Maintenance Manual: Alarm List

ROBOTICS
Maintenance manual
Robot controller
Alarm list
Created on: 2016-10
Revision: 07
Document number: E1102000146GB07 Author: WOE
Changes made in revision:

Rev. 05: Revised version of the original RE-CHO-A113.0 in YEU-R
Rev. 06: Revised version of the original RE-CHO-A113.6
Rev. 07: Revised version of the original RE-CHO-A113.11
© Copyright 2016
This documentation – also in part – may be reproduced or made available to third parties only with the
express approval of YASKAWA Europe "Robotics Division GmbH".
We have checked the content of this publication for compliance with the hardware described.
Nevertheless, discrepancies cannot be ruled out. Therefore, we cannot guarantee full compliance.
However, the information given in this publication is checked regularly and any necessary corrections
will be made in subsequent editions.
Subject to technical modifications.
Table of contents
Table of contents
1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.1 Notes for safe operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.2 Frequently used terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.3 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
1.4 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
1.5 Improper use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 6
1.6 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 7
1.7 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 8
1.7.1 YASKAWA manual list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.8 Manufacturer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.9 Authorized representative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1 Outline of alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 Alarm display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.1 Show alert. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.2 Releasing alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.3 Special alarm display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Alarm message list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.1 Alarm number 0000 - 0999 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.2 Alarm number 1000 - 1999 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
2.3.3 Alarm number 4000 - 4999 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
2.3.4 Alarm list 4 to 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1407
3
General
1 General
1.1 Notes for safe operation
DANGER!
Indicating immediate danger at high risk, hazard that can cause death or serious bodily
injuries if no precautions are taken.
WARNING!
Indicating possible medium risk hazard situation which can cause death or serious bodily
injuries if it is not avoided.
CAUTION!
Indicating potentially dangerous situation with low risk of minor or moderate bodily injuries
result if it is not avoided. This signal word can also be used for property damage warnings.
NOTICE
Indicates important background information and application advice.
1.2 Frequently used terms

The YASKAWA robot is a product of YASKAWA Electric Corporation, and is provided by
default with the robot control, the programming pendant and robot cable.
The terms are designated as follows in this manual:
Term Description
Control Robot control
Industrial robot Robot
Programming pendant / teach box Programming pendant
Supplying cable between robot and robot Cable
control
Robot, robot control and cable Robot system
Yaskawa Electric Corporation YEC
YASKAWA Robotics Division YEU-R
Moving, calibrating and setting up of the ro- Teachen
bot
Movement sequences of the robot JOBs
Technical customer service TCS
1 -4
General
1.3 Target group

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

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

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

• Alert messages, their meaning, causes and remedial actions are described in this
manual. Be sure to read and understand this instruction manual thoroughly before
installing and operating the robot.
• To ensure correct and safe operation, read the robot controller operating instructions
(Basic Information, Installation and Wiring and System Setup).
• In order to illustrate details clearly, some drawings are shown with the protective covers
or shields removed. All protective covers and shields must be mounted before the robot
is operated.
• The drawings and figures in this manual are representative illustrations. They may differ
from the product delivered.
• YEU-R reserves the right to make technical changes. These changes may include
product improvements, modifications or changes in specifications
• If your copy of the operating and maintenance instructions is damaged or lost, please
contact the local YASKAWA branch office to order a new copy. The official branch
offices are listed on the last page. Please mention the manual number in your order.
• YASKAWA Europe GmbH is not responsible for damage caused due to unauthorized
modification of the system. If any impermissible modifications are made to the system
and to the robot, all warranty and liability claims as well as the declaration of
incorporation will expire.
1 -7
General
1.7 Safety
REMOTE TEACH
START HOLD
1
PLAY
JOB EDIT DISPLAY UTILITY
JOB CONTENT
-TEST01 S:0000
CONTROL GROUP:R1 TOOL:
0000 NOP
0001 SET B000 1
0002 SET B001 0
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
MOVJ VJ=0.78
Main Menu Short Cut Turn on servo power
LAYOUT TOOL SEL GO BACK

DIRECT
COORD OPEN
Multi PAGE AREA
ENTRY
SERVO
SELECT
MAIN SIMPLE ON CANCEL
MENU MENU READY ASSIST
X- X+
SERVO ON
X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+ Y- Y+
L- L+ B- B+
FAST
Z- Z+ MANUAL SPEED
Z- Z+
U- U+ T- T+
SLOW
E- E+ 8- 8+
INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START
ROBOT INFORM 4 5 6 BWD FWD

LIST
EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF
MOTION 0 . -
AUX MODIFY ENTER
TYPE
Fig. 1-1: Programming pendant
1 Emergency Stop button
WARNING!
Death or injury because of danger of crushing
If the emergency stop button does not function properly, the robot cannot be stopped in the
event of an emergency.
 The robot should not be used if the emergency stop button does not function.
 Before operating the robot check the function of the emergency stop button. The
SERVO power has to immediately go off once the emergency stop button on the
programming pendant has been pressed (seeFig. 1-3: "Emergency Stop button").
 When the SERVO power is turned OFF, the SERVO ON LED on the programming
pendant goes off (see Fig. 1-2: "LED SERVO ON").
SERVO ON
Fig. 1-2: LED SERVO ON
Fig. 1-3: Emergency Stop button
1 -8
General
WARNING!
Before you release the emergency stop button (see Fig. 1-4: "Release of emergency stop
button by turning") note the following:
 Make sure that there is no one within the maximum working range of the robot.
 Clear the cell of all items which could collide with the robot.
 Now you can switch ON the SERVO power by pressing the enable switch on the
programming pendant.
Fig. 1-4: Release of emergency stop button by turning
WARNING!
if anyone enters the working area of the robot during operation or any problems occur,
always press the emergency stop button immediately. The emergency stop button is
located on the programming pendant (see Fig. 1-1: "Programming pendant").
Observe the following precautions when performing teaching operations within the robot’s
working range:
 View the Robot from the front whenever possible.
 Always follow the prescribed operating procedure (see the instructions on robot control
as well as the operating instructions on "Handling" or "Universal Application").
 An area must be left clear so that the operator can retreat to it in case of emergency.
The following inspection procedures must be performed prior to teaching the robot. If
problems are found, correct them immediately, and be sure that all other necessary
measures have been performed.
• Check for problems in robot movement.
• Check the connectors for tight fit and all cables for damage.
• Hang the programming pendant back on the robot control after use.
• Make sure that the key for the key switch (Teach/Automatic) of the programming
pendant is kept by a skilled person who has been specially trained.
• The key may be inserted in the key switch of the programming pendant only during
teach operation; after the teach operation it must be immediately removed and kept in
a safe place.
1 -9
General
1.7.1 YASKAWA manual list
It is important to have all the manuals on the YASKAWA control or robot available and to
know their contents. Please make sure you have all these manuals. If you are missing any
manual, please contact the local YASKAWA branch office.
You must have the YASKAWA manuals listed below available.
• Instructions (E1102000206XX01* or higher).
• Maintenance (E1102000152XX01* or higher
• Operator’s manual (for each purpose).
• Install and Wiring (E1102000143XX01* or higher).
• Alarm list (E1102000146XX01 or higher).
• Operating and maintenance instructions for the specific robot type.
* "XX" is the language of the document.
1 - 10
General
1.8 Manufacturer
Address:
YASKAWA ELECTRIC CORPORATION
2-1 KUROSAKISHIROISHI
YAHATANISHI-KU
KITAKYUSHU
JAPAN
1.9 Authorized representative

Address:
YASKAWA Europe GmbH
Robotics Division
Yaskawastr. 1
85391 Allershausen
Germany
1 - 11
Alarm list
2 Alarm list
2.1 Outline of alarm

When an alarm of level 0 to 3 (major alarm) occurs, the servo power supply is turned OFF.
Alarm code Alarm level Alarm Reset Method

0 Level 0 (major It is not possible to reset by "RESET" under
alarm) (offline alarm: the ALARM window or the system input signal
Initial diagnosis/ (Alarm reset).
Hardware diagnosis Turn OFF the main power supply and correct
alarm) the cause of the alarm. Then turn ON the main
1 to 3 Level 1 to 3 (Major power supply again.
alarm)
4 to 8 Level 4 to 8 (Minor After correcting the cause, it is possible to re-
alarm) set by "RESET" under the ALARM window or
the system input signal (Alarm reset).
9 Level 9 (Minor After correcting the cause for which the sys-
alarm) (I/O alarm) tem input signal for the system or user alarm
request turns ON, it is possible to reset by
"RESET" under the ALARM window or the
system input signal (Alarm reset).
Tab. 2-1: Alarm code classification
NOTICE
For Minor alarms (4 to 9) refer to the Document - CD which is delivered with
your system (refer to folder system documentation).
2.2 Alarm display
2.2.1 Show alert
If an alarm occurs during operation, the robot stops immediately and the ALARM window
appears on the programming pendant indicating that the machine was stopped by an alarm.
2 - 12
Alarm list
JOB
Alarm
1 Alarm 4100 [1] 2

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

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

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

2.3 Alarm message list
CAUTION!
 Before handling the system control circuit board "JANCD-YIF**-*" for any remedies,
consult YASKAWA representative. To handle the JANCD-YIF**-*, personnel must be
appropriately skilled in maintenance mode operation.
 JANCD-YIF**-* backs up very important file data for the user program with a battery.
Careless operation may delete registered data.
2 - 15
2.3.1 Alarm number 0000 - 0999
2 - 16
Alarm list
Alarm Alarm Name SUB- Meaning Cause Remedy
No. Code
0010 CPU BOARD IN- 30 YCP21 board was not YSF21 board failure (1) Turn the power OFF then back ON.
SERTION ERROR able to recognize (2) If the alarm occurs again, check the connection and insertion
YSF21 board when of the YSF21 board.
the control power
turned ON.
YSF21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the following board.
Save the CMOS.BIN before replace the board to be safe.
∙YSF21 board
YCP21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YCP21 board.
Replace the YCP21 board, and then remove the CF from the fail-
ure YCP21 board to insert it into the new YCP21 board.
other If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
mode, and then contact your YASKAWA representative about oc-
currence status (operating procedure).
0020 CPU COMMUNICA- 1 No response was Software operation (1) Turn the power OFF then back ON.
TION ERROR sent from the YCP21 error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
board when the con- NANCE mode, and then contact your YASKAWA representative
trol power turned ON. about occurrence status (operating procedure).
Connection failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the connection and insertion
of the following connectors.
∙The PCI connector of YCP21 board
∙The PCI connector of the YIF01 board
No. Code
(2) If the alarm occurs again, replace the YCP21 board. Save the
CMOS.BIN before replace the board to be safe.
YIF01 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YIF01 board. Save the
CMOS.BIN before replace the board to be safe. Replace the
YIF01 board, and then load the CMOS.BIN saved before alarm
occurred.
20 No response was Setting error (1) Check the following settings.
sent from the optional ∙Optional board setting in MAINTENANCE mode
board #1 when the
control power turned
ON.
of the following connector.
∙YCP02 board
Alarm list
2
- 17
2 - 18
Alarm list
No. Code
Replace the YIF01 board, and then load the CMOS.BIN saved
before alarm occurred.
sent from the optional ∙The optional board setting in MAINTENANCE mode
board #2 when the
ON.
∙The PCI connector of the YCP02 board
∙YCP02 board
No. Code
(2) If the alarm occurs again, replace the YIF01 board.
sent from the optional ∙Optional board setting in maintenance mode
board #3 when the
ON.
∙YCP02 board
Alarm list
2
- 19
2 - 20
Alarm list
No. Code
board #4 when the
ON.
(2) If the alarm occurs again, replace the following board. Save
the CMOS.BIN before replace the board to be safe.
∙YCP02 board
No. Code
other If the alarm occurs again, save the CMOS.BIN in MAINTENCE
sent from the optional ∙Optional board setting in MAINTENCE mode
board #5 when the
ON.
∙YCP02 board
Alarm list
2
- 21
2 - 22
Alarm list
No. Code
board #6 when the
ON.
∙YCP02 board
No. Code
board #7 when the
ON.
∙YCP02 board
Alarm list
2
- 23
2 - 24
Alarm list
No. Code
board #8 when the
ON.
∙YCP02 board
No. Code
30 No response was Connection failure (1) Turn the power OFF then back ON.
sent from the YSF21 (2) If the alarm occurs again, check the connection and insertion
board when the con- of the following connector.
trol power turned ON.
∙YSF21 board
Alarm list
2
- 25
2 - 26
Alarm list
No. Code
sent from the servo ∙Control group settings in MAINTENANCE mode
board #1 when the
control power turned ∙The EAXA21 board rotary switch setting (0) of the corresponding
ON. node number (SV#1)
At this time, the
DX200 may judge it
as signal input such
as external hold
wrong. However, it is
caused by the com-
munication error with
servo board #1.
Therefore, execute
the following mea-
sures first of all.
No. Code
of the following cables and connectors.
CN509 cable of EAXA21 board
The cable of EAXA21 board connector CN515/516
The PCI connector of the YIF01 board
The cable of YIF01 board connector CN113
The cable of YPS unit connector CN155
EAXA21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the EAXA21 board.
board #2 when the
Alarm list
2
- 27
2 - 28
Alarm list
No. Code
YPS02 unit failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YPS02 board.
Save the CMOS.BIN before replace the unit to be safe.
board #3 when the
No. Code
board #4 when the
node number (SV#4)
Alarm list
ON.
2
- 29
2 - 30
Alarm list
No. Code
board #5 when the
No. Code
board #6 when the
node number (SV#6)
Alarm list
ON.
2
- 31
2 - 32
Alarm list
No. Code
board #7.
∙The EAXA21 board rotary switch setting (6) of the corresponding
node number (SV#7)
No. Code
sent from the servo Control group settings in MAINTENANCE mode
board #8 when the
control power turned The EAXA21 board rotary switch setting (7) of the corresponding
node number (SV#8)
Alarm list
ON.
2
- 33
2 - 34
Alarm list
No. Code
sent from the func- Control group settings in MAINTENANCE mode
tional safety board #1
when the control pow- The YSF25 board (#1) rotary switch setting (0).
er turned ON. The EAXA21 board rotary switch setting (0) of the corresponding
node number (SV#1)
No. Code
CNBX connector of EAXA21 board and the YSF25 board
The PCI connector of YIF01board
(2) If the alarm occurs again, replace the YSF25 board.
sent from the func- ∙Control group settings in MAINTENANCE mode
when the control pow- ∙The YSF25 board (#2) rotary switch setting (1).
er turned ON. ∙The EAXA21 board rotary switch setting (1) of the corresponding
node number (SV#2)
Alarm list
2
- 35
2 - 36
Alarm list
No. Code
CNBX connector of EAXA21 board and the YSF25 board
The PCI connector of YIF01board
when the control pow- ∙The YSF25 board (#3) rotary switch setting (2).
node number (SV#3)
No. Code
∙CN509 cable of EAXA21 board
∙The cable of EAXA21 board connector CN515/516
∙CNBX connector of EAXA21board and the YSF25 board
∙The PCI connector of YIF01board
∙The cable of YIF01 board connector CN113
when the control pow- ∙The YSF25 board (#4) rotary switch setting (3)
Alarm list
node number (SV#4)
2
- 37
2 - 38
Alarm list
No. Code
node number (SV#5)
No. Code
Alarm list
node number (SV#6)
2
- 39
2 - 40
Alarm list
No. Code
node number (SV#7)
No. Code
Alarm list
node number (SV#8)
2
- 41
2 - 42
Alarm list
No. Code
0021 COMMUNICATION 50 The communications Setting error (1) Check the following settings.
ERROR(SERVO) CPU for the servo ∙Control group settings in MAINTENANCE mode
board #1 detected an
error when the control ∙The EAXA21 board rotary switch setting (0) of the corresponding
power turned ON. node number (SV#1)
No. Code
51 The communications Setting error (1) Check the following settings.

CPU for the servo ∙Control group settings in MAINTENANCE mode
Alarm list
2
- 43
2 - 44
Alarm list
No. Code
No. Code
Alarm list
2
- 45
2 - 46
Alarm list
No. Code
No. Code
node number (SV#6)
Alarm list
power turned ON.
2
- 47
2 - 48
Alarm list
No. Code
CPU for the servo ∙Control group settings in MAINTENENCE mode
No. Code
node number (SV#8)
Alarm list
power turned ON.
2
- 49
2 - 50
Alarm list
No. Code
0030 ROM ERROR 1 The YCP21 system Software operation (1) Turn the power OFF then back ON.
program is damaged. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
NANCE mode, and then contact your YASKAWA representative
about occurrence status (operating procedure).
No. Code
other If the alarm occurs again, save the CMOS.BIN in MANITENANCE
10 The system program Software operation (1) Turn the power OFF then back ON.
of optional board #1 is error occurred (2) If the alarm occurs again, save the CMOS.BIN in
damaged. MANITENANCE mode, and then contact your YASKAWA repre-
sentative about occurrence status (operating procedure).
∙YCP02 board
∙YCP02 board
Alarm list
2
- 51
2 - 52
Alarm list
No. Code
∙YCP02 board
∙YCP02 board
∙YCP02 board
No. Code
∙YCP02 board
∙YCP02 board
Alarm list
2
- 53
2 - 54
Alarm list
No. Code
∙YCP02 board
∙YCP02 board
of YSF21 board is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
damaged. NANCE mode, and then contact your YASKAWA representative
∙YSF21 board
No. Code
of servo board #1 is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 55
2 - 56
Alarm list
No. Code

No. Code
Alarm list
2
- 57
2 - 58
Alarm list
No. Code
of functional safety error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
board #1 is damaged. NANCE mode, and then contact your YASKAWA representative
No. Code
Alarm list
2
- 59
2 - 60
Alarm list
No. Code
No. Code
0060 COMMUNICATION 0 The IO module board Connection failure (1) Turn the power OFF then back ON.
ERROR connected with 0th (2) If the alarm occurs again, check the connection and insertion
(I/O MODULE) serial bus exists. of the YSF21 board.
∙YSF21 board
1 An error was detected Setting error (1) Check the following settings.
in communications ∙The rotary switch setting which specifies slot numbers of each I/
with the I/O module O module
board connected with
1st serial bus when ∙I/O module settings in MAINTENANCE mode
the control power Please refer to the manual of each IO module for the details of the
turned ON. setting.
∙The M ǁ communications cable which I/O module of the corre-
sponding node number
∙(In case of Mǁ communications last station) Terminator
∙24V power of the corresponding I/O module
I/O module failure (1) Turn the power OFF then back ON.
Alarm list
2
- 61
2 - 62
Alarm list
No. Code
2nd serial bus when ∙I/O module settings in MAINTENANCE mode
turned ON. setting.
No. Code
3rd serial bus when ∙I/O module settings in MAINTENANCE mode
turned ON. setting.
Alarm list
2
- 63
2 - 64
Alarm list
No. Code
4th serial bus when ∙I/O module settings in MAINTENANCE mode
turned ON. setting.
No. Code
turned ON. setting.
Alarm list
2
- 65
2 - 66
Alarm list
No. Code
turned ON. setting.
No. Code
turned ON. setting.
Alarm list
2
- 67
2 - 68
Alarm list
No. Code
turned ON. setting.
No. Code
turned ON. setting.
Alarm list
2
- 69
2 - 70
Alarm list
No. Code
turned ON. setting.
No. Code
turned ON. setting.
Alarm list
2
- 71
2 - 72
Alarm list
No. Code
turned ON. setting.
No. Code
turned ON. setting.
Alarm list
2
- 73
2 - 74
Alarm list
No. Code
turned ON. setting.
No. Code
turned ON. setting.
Alarm list
2
- 75
2 - 76
Alarm list
No. Code
in communications ∙PCI slot number in which each PCI board is mounted
with the I/O module
board connected with ∙I/O module settings in maintenance mode
1st PCI connector Please refer to the manual of each IO module for the details of the
when the control pow- setting.
er turned ON.
∙The PCI connector of the corresponding I/O module
∙The corresponding I/O module (PCI board)
No. Code
EIP board failure In the case of PCU-ETHIO (EtherNet/IP) board, please exchange
with the board which firmware version is correct.
PROFINET board In the case of CP1616(PROFINET) board, please confirm the fol-
failure lowing communication configuration using SIEMENS manufac-
tured setting tool (STEP 7). Please refer to the user manual of the
CP1616 for more information on how to set.
∙When used as IO controller
- Download the project file.
∙When used as IO device
- Assignment of IP address and device name. Factory reset be-
fore performing the assignment.
with the I/O module
2nd PCI when the Please refer to the manual of each IO module for the details of the
control power turned setting.
ON.
Alarm list
2
- 77
2 - 78
Alarm list
No. Code
with the I/O module
3rd PCI when the Please refer to the manual of each IO module for the details of the
control power turned setting.
ON.
No. Code
with the I/O module
4th PCI when the con- Please refer to the manual of each IO module for the details of the
Alarm list
trol power turned ON. setting.
2
- 79
2 - 80
Alarm list
No. Code
No. Code
0100 COMMUNICATION 1 The error was detect- Setting error (1) Check the following settings.
ERROR(EAXA#1) ed during the check of ∙Control group settings in maintenance mode
the serial communi-
cation watchdog data. ∙The EAXA21 board rotary switch setting (0) of the corresponding
Counter value re- node number (SV#1)
ceived from EAXA21
board is invalid.
∙The cable of EAXA21 board CN509
Alarm list
2
- 81
2 - 82
Alarm list
No. Code
YCP21 board, and then remove the CF from the failure YCP21
board to insert it into the new YCP21 board.
other If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your Yaskawa representative about oc-
2 The error was detect- Setting error (1) Check the following settings.
ed during the check of ∙Control group settings in maintenance mode
the number of the se- ∙The EAXA21 board rotary switch setting (0) of the corresponding
rial communications. node number (SV#1)
Counter value re-
ceived from EAXA21
board is off by one cy-
cle.
(2) If the alarm occurs again, replace the EAXA21 board. Save the
occurred.
No. Code
ERROR(EAXA#2) ed during the check of ∙Control group settings in MAINTENANCE mode
the serial communi-
ceived from EAXA21
board is invalid.
Alarm list
2
- 83
2 - 84
Alarm list
No. Code
ed during the check of ∙Control group settings in MAINTENANCE mode
the number of the se-
rial communications. ∙The EAXA21 board rotary switch setting (1) of the corresponding
ceived from EAXA21
cle.
No. Code
the serial communi-
ceived from EAXA21
board is invalid.
Alarm list
2
- 85
2 - 86
Alarm list
No. Code
No. Code
ceived from EAXA21
cle.
Alarm list
2
- 87
2 - 88
Alarm list
No. Code
ERROR(EAXA#4) ed during the check of ∙Control group settings in maintenance mode
the serial communi-
ceived from EAXA21
board is invalid.
No. Code
ceived from EAXA21
cle.
Alarm list
2
- 89
2 - 90
Alarm list
No. Code
the serial communi-
ceived from EAXA21
board is invalid.
No. Code
Alarm list
2
- 91
2 - 92
Alarm list
No. Code
ceived from EAXA21
cle.
No. Code
the serial communi-
ceived from EAXA21
board is invalid.
Alarm list
2
- 93
2 - 94
Alarm list
No. Code
ceived from EAXA21
cle.
No. Code
the serial communi-
ceived from EAXA21
board is invalid.
Alarm list
2
- 95
2 - 96
Alarm list
No. Code
No. Code
ceived from EAXA21
cle.
Alarm list
2
- 97
2 - 98
Alarm list
No. Code
the serial communi-
ceived from EAXA21
board is invalid.
No. Code
ceived from EAXA21
cle.
Alarm list
2
- 99
2 - 100
Alarm list
No. Code

No. Code
0200 MEMORY ER- 0 The RC parameter is Data error (1) Turn the power OFF then back ON.
ROR(PARAMETER damaged. (2) If the alarm occurs again, initialize the appropriate data in
FILE) MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
No. Code
1 The RO parameter is Data error (1) Turn the power OFF then back ON.
damaged. (2) If the alarm occurs again, initialize the appropriate data in
MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
Alarm list
2
- 101
2 - 102
Alarm list
No. Code
2 The SV parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
3 The SVM parameter Data error (1) Turn the power OFF then back ON.
is damaged. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
No. Code
4 The SC parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
Alarm list
2
- 103
2 - 104
Alarm list
No. Code
5 The SD parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
6 The CIO parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
No. Code
7 The FD parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
8 The AP parameter is Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 105
nal memory device.

2 - 106
Alarm list
No. Code
9 The RS parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
No. Code
10 The SE parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
11 The SVC parameter Data error (1) Turn the power OFF then back ON.
nal memory device.
Alarm list
2
- 107
2 - 108
Alarm list
No. Code
12 The AMC parameter Data error (1) Turn the power OFF then back ON.
nal memory device.
No. Code
13 The SVP parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
14 The MF parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
Alarm list
2
- 109

2 - 110
Alarm list
No. Code
15 The SVS parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
125 RE parameter is dam- Data error (1) Turn the power OFF then back ON.
aged. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
No. Code
126 FMS parameter is Data error (1) Turn the power OFF then back ON.
nal memory device.
Alarm list
2
- 111
2 - 112
Alarm list
No. Code
0210 MEMORY ERROR The system configu- YCP21 board failure (1) Turn the power OFF then back ON.
(SYSTEM CONFIG- ration information (2) If the alarm occurs again, replace the YCP21 board.
DATA) data are damaged.
0220 MEMORY ERROR 0 The management Data error (1) Turn the power OFF then back ON.
(JOB MNG DATA) data of JOB files are (2) If the alarm occurs again, initialize the JOB file in MAINTE-
damaged. NANCE mode, and then load the data (JOB, variable data, robot
calibration data) saved in the external memory device.
No. Code
1 The JOB files are Data error (1) Turn the power OFF then back ON.
damaged. (2) If the alarm occurs again, initialize the JOB file in MAINTEN-
ACE mode, and then load the data (JOB, variable data, robot cal-
ibration data) saved in the external memory device.
2 The management Data error (1) Turn the power OFF then back ON.
data of position data (2) If the alarm occurs again, initialize the JOB file in MAINTEN-
Alarm list
files are damaged.
2
ACE mode, and then load the data (JOB, variable data, robot cal-
- 113
ibration data) saved in the external memory device.

2 - 114
Alarm list
No. Code
3 Memory and play Data error (1) Turn the power OFF then back ON.
back file is damaged. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
No. Code
0230 MEMORY ERROR The CIO ladder file is Data error (1) Turn the power OFF then back ON.
(LADDER PRG damaged. (2) If the alarm occurs again, initialize the appropriate data in
FILE) MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
0240 MEMORY ERROR 0 The DeviceNet allo- Setting error (1) Check the following settings.
(DEVICENET AL- cation file 1 is dam- [XFB01 board]
LOC FL) aged.
∙The settings of the objective DeviceNet allocation file
∙The I/O module settings of the objective DeviceNet board in
MAINTENANCE mode
∙The DeviceNet allocation of the I/O module in MAINTENANCE
mode
Alarm list
2
- 115
2 - 116
Alarm list
No. Code
1 The DeviceNet allo- Setting error (1) Check the following settings.
cation file 2 is dam- [XFB01 board]
aged.
∙The settings of the objective DeviceNet allocation file
MAINTENANCE mode
mode
No. Code
0270 MEMORY ERROR The system software Software operation (1) Turn the power OFF then back ON.
(CF BACKUP FILE) version is inconsis- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tent with the version NANCE mode, and then contact your YASKAWA representative
when the internal about occurrence status (operating procedure).
storage data is set or
the CompactFlash on
the YCP21 board is
damaged.
0280 MEMORY ERROR Software operation (1) Turn the power OFF then back ON.
(EX IO ALLOC error occurred (2) If the alarm occurs again, initialize the appropriate data in
FILE) MAINTENANCE mode, and then set the IO module.
Alarm list
2

- 117
2 - 118
Alarm list
No. Code
0290 MEMORY ERROR The network setting Data error (1) Turn the power OFF then back ON.
(NETWORK SET- file is damaged. (2) If the alarm occurs again, initialize the appropriate data in
UP) MAINTENANCE mode, and then set the network again.
0300 VERIFY ERROR 2 CIO parameter error. Setting error (1) Check the following settings.
(SYSTEM CONFIG- ∙I/O module settings in MAINTENANCE mode
DATA)
No. Code
4 Axis-related parame- Setting error (1) Check the following settings.
ter error. ∙Control group settings in MAINTENANCE mode
5 Sensor-use parame- Setting error (1) Check the following settings.
ter error. ∙The optional board setting in MAINTENANCE mode
Alarm list
2
- 119
2 - 120
Alarm list
No. Code
7 The set optional func- Setting error (1) Check the following settings.
tions are different ∙The optional board setting in MAINTENANCE mode
from those of the
mounted optional
board.
currence status (operating procedure)
8 IO type error (combi- Setting error (1) Check the following settings.
nation impossible to ∙I/O module settings in MAINTENANCE mode
coexist).
No. Code
10 Functional Safety Setting error (1) Select the following menu.
board save data error ∙{File} - {Initialize"} ,{Functional Safety Board FLASH Reset} in
MAINTENANCE mode.
(2) Turn the power OFF then back ON.
Alarm list
2
- 121

2 - 122
Alarm list
No. Code
11 Ex. AXIS INDIVIDU- Setting error (1) Check the following settings.
AL CONTROL Pa- ∙[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA)] set-
rameter Setting error tings in MAINTENANCE mode
(EX.TU# out of a
range).
12 Ex. AXIS INDIVIDU- Setting error (1) Check the following settings.
AL CONTROL Pa- ∙[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA)] set-
rameter Setting error tings in MAINTENANCE mode
(Difference in an Ex.
AXIS INDIVIDUAL
CONTROL Parame-
ter and Physics TU#
parameter).
No. Code
14 POWER REGENER- Setting error (1) Check the following settings.
ATIVE FUNCTION ∙[Option function] - [POWER REGENERATIVE FUNCTION] set-
Parameter Setting er- tings in MAINTENANCE mode
ror.
15 Parameter setting er- Setting error (1) Check the following settings.
ror of the robot de- ∙ [OPTION FUNCTION] - [ROBOT DETACHMENT] settings in
tachment function or MAINTENANCE mode. Reset the detachment group setting.
axes detachment
function. ∙[OPTION FUNCTION] - [AXES DETACHMENT] settings in
MAINTENANCE mode. Reset the detachment axis setting.
Alarm list
2
- 123
2 - 124
Alarm list
No. Code
16 The fast cycle Devi- Setting error (1) Check the fast cycle DeviceNet communication setting.
ceNet communication ∙ The channel number for the fast cycle communication (Max
can not be available channel number is 2).
under this setting
∙ The communication IO number for the fast cycle communication
(Max. IO number is 64 Byte).
occurred.
17 The fast cycle Devi- Setting error (1) Check the fast cycle DeviceNet communication setting.
ceNet communication ∙ The channel number for the fast cycle communication (Only 1
can not be available channel available).
under this setting
∙ The communication IO number for the fast cycle communication
(Max. IO number is 16 Byte).
No. Code
20 Machine safety board Setting error (1) Select the following menu.
save data error ∙ {File} - {Initialize}, {Machine Safety Board FLASH Reset}
(3) If the alarm occurs again, select the following menu.
∙ {File} - {Initialize} - {I/O Data}, {YSF LOGIC FILE}
(2) If the alarm occurs again, replace the YSF21 board. Save the
YSF21 board, and then load the CMOS.BIN saved before alarm
occurred.
∙YCP21 board
∙YIF01 board
mode, and then contact your Yaskawa representative about oc-
0301 VERIFY ERROR Sub Code: Control Setting error (1) Check the following settings.
(OVERRUN INPUT group ∙Connection settings (OT) in MAINTENANCE mode
SET) Parameter specifica-
tion and OT signal in-
formation are wrong
Alarm list
2
- 125

2 - 126
Alarm list
No. Code
0310 VERIFY ERROR The CMOS memory YCP21 board failure (1) Turn the power OFF then back ON.
(CMOS MEMORY capacity is different (2) If the alarm occurs again, replace the YCP21 board.
SIZE) from its initial setting.
320 VERIFY ERROR 0 The I/O module con- Setting error (1) Check the following settings.
(I/O MODULE) nected to the PCI ex- ∙The YIO board type connected to YSF22.
press bus is different
from the function of ∙The rotary switch setting which specifies slot numbers of each I/
the set I/O module. O module
∙I/O module settings in MAINTENANCE mode
Please refer to the manual of each IO module for the details of the
setting.
∙ The MII communications cable which I/O module of the corre-
∙ (In case of MII communications last station) Terminator
∙ 24V power of the corresponding I/O module
No. Code
YIF01 board failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
again, replace the YIF01 board.
YSF22 board failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
again, replace the YSF22 board.
Replace the YSF22 board, and then load the CMOS.BIN saved
1 The I/O module con- Setting error (1) Check the following settings.
nected to the serial ∙The rotary switch setting which specifies slot numbers of each I/
bus #1 is different O module
from the function of
the set I/O module. ∙I/O module settings in MAINTENANCE mode
setting.
Alarm list
2

- 127

2 - 128
Alarm list
No. Code
setting.
∙(In case of M ǁ communications last station) Terminator
No. Code
setting.
Alarm list
2
- 129
2 - 130
Alarm list
No. Code
setting.
No. Code
setting.
Alarm list
2
- 131
2 - 132
Alarm list
No. Code
setting.
No. Code
setting.
Alarm list
2
- 133
2 - 134
Alarm list
No. Code
setting.
No. Code
setting.
Alarm list
2
- 135
2 - 136
Alarm list
No. Code
setting.
No. Code
setting.
Alarm list
2
- 137
2 - 138
Alarm list
No. Code
setting.
No. Code
setting.
Alarm list
2
- 139
2 - 140
Alarm list
No. Code
setting.
No. Code
setting.
Alarm list
2
- 141
2 - 142
Alarm list
No. Code
nected to the 1st PCI ∙PCI slot number in which each PCI board is mounted
bus is different from
the function of the set ∙I/O module settings in MAINTENANCE mode
I/O module. Please refer to the manual of each IO module for the details of the
setting.
No. Code
nected to the 2nd PCI ∙PCI slot number in which each PCI board is mounted
setting.
Alarm list
2
- 143
2 - 144
Alarm list
No. Code
nected to the 3rd PCI ∙PCI slot number in which each PCI board is mounted
setting.
nected to the 4th PCI ∙PCI slot number in which each PCI board is mounted
setting.
No. Code
0330 VERIFY ERROR YCP21 board failure (1) Turn the power OFF then back ON.
(APPLICATION) (2) If the alarm occurs again, replace the YCP21 board.
Alarm list
2
- 145
2 - 146
Alarm list
No. Code
0340 VERIFY ERROR YCP21 board failure (1) Turn the power OFF then back ON.
(SENSOR FUNC- (2) If the alarm occurs again, replace the YCP21 board.
TION)
0350 VERIFY ERROR The station No. speci- Setting error (1) Check the following settings.
(DEVICENET AL- fied by the DeviceNet [XFB01 board]
LOC FL) allocation file1 is in-
correct (the station ∙The settings of the objective DeviceNet allocation file
No. is out of the allow- ∙The I/O module settings of the objective DeviceNet board in
able range, or the MAINTENANCE mode
specified station ∙The DeviceNet allocation of the I/O module in MAINTENANCE
board is not the Devi- mode
ceNet master).
No. Code
1 The MAC_ID speci- Setting error (1) Check the following settings.
fied by the DeviceNet [XFB01 board]
allocation file1 is not
consistent with the ∙The settings of the objective DeviceNet allocation file
MAC_ID of the speci- ∙The I/O module settings of the objective DeviceNet board in
fied station board. MAINTENANCE mode
mode
Alarm list
2

- 147
2 - 148
Alarm list
No. Code
2 Inconsistency was Setting error (1) Check the following settings.
detected in the scan [XFB01 board]
list of the DeviceNet
allocation file1. ∙The settings of the objective DeviceNet allocation file
MAINTENANCE mode
mode
10 The station No. speci- Setting error (1) Check the following settings.
allocation file2 is in-
correct (the station ∙The settings of the objective DeviceNet allocation file
No. is out of the allow- ∙The I/O module settings of the objective DeviceNet board in
able range, or the MAINTENANCE mode
specified station ∙The DeviceNet allocation of the I/O module in MAINTENANCE
board is not the Devi- mode
ceNet master).
No. Code
11 The MAC_ID speci- Setting error (1) Check the following settings.
allocation file2 is not
consistent with the ∙The settings of the objective DeviceNet allocation file
MAC_ID of the speci- ∙The I/O module settings of the objective DeviceNet board in
fied station board. MAINTENANCE mode
mode
Alarm list
2
- 149
2 - 150
Alarm list
No. Code
12 Inconsistency was Setting error (1) Check the following settings.
detected in the scan [XFB01 board]
list of the DeviceNet
allocation file2. ∙The settings of the objective DeviceNet allocation file
MAINTENANCE mode
mode
No. Code
0370 VERIFY ERROR The designation in the Setting error (1) Check the following settings.
(SPOT WELDER I/ parameter is different ∙The welding timer designation
F) from the connected
welding timer.
0390 VERIFY ERROR Illegal instruction cy- Setting error (1) Check the following settings.
(SEGMENT cle is set. ∙Instruction execution cycle
CLOCK)
Alarm list
2
- 151
2 - 152
Alarm list
No. Code

No. Code
0400 PARAMETER 30 An error occurred Connection failure (1) Turn the power OFF then back ON.
TRANSMISSION during the parameter/ (2) If the alarm occurs again, check the connection and insertion
ERROR file transfer to the of the following connector.
YSF21 board.
∙The PCI connector of YSF21 board
∙The PCI connector of YIF01 board
∙YSF21 board
No. Code
50 An error occurred Setting error (1) Check the following settings.
during the parameter/ ∙Control group settings in MAINTENANCE mode
file transfer to the 1st
SERVO board. ∙The EAXA21 board rotary switch setting (0) of the corresponding
node number (SV#1)
file transfer to the 2nd
node number (SV#2)
Alarm list
2
- 153
2 - 154
Alarm list
No. Code
file transfer to the 3rd
node number (SV#3)
No. Code
file transfer to the 4th
node number (SV#4)
Alarm list
2
- 155
2 - 156
Alarm list
No. Code
Save the CMOS.BINbefore replace the board to be safe.
node number (SV#5)
No. Code
node number (SV#6)
Alarm list
2
- 157
2 - 158
Alarm list
No. Code
node number (SV#7)
No. Code
node number (SV#8)
Alarm list
2
- 159
2 - 160
Alarm list
No. Code
file transfer to the 1st
functional safety ∙The YSF25 board (#1) rotary switch setting (0).
board. ∙The EAXA21 board rotary switch setting (0) of the corresponding
node number (SV#1)
No. Code
ave the CMOS.BIN before replace the board to be safe.
file transfer to the 2nd
node number (SV#2)
Alarm list
2
- 161
2 - 162
Alarm list
No. Code
file transfer to the 3rd
node number (SV#3)
No. Code
node number (SV#4)
Alarm list
2
- 163
2 - 164
Alarm list
No. Code
node number (SV#5)
No. Code
node number (SV#6)
Alarm list
2
- 165
2 - 166
Alarm list
No. Code
node number (SV#7)
No. Code
node number (SV#8)
Alarm list
2
- 167
2 - 168
Alarm list
No. Code
0410 MODE CHANGE 30 An error occurred Connection failure (1) Turn the power OFF then back ON.
ERROR during startup se- (2) If the alarm occurs again, check the connection and insertion
quence processing of the following connector.
with the YSF21
board, and the sys- ∙The PCI connector of YSF21 board
tem did not startup ∙The PCI connector of YIF01 board
normally.
No. Code
∙YSF21 board
during startup se- ∙Control group settings in MAINTENANCE mode
quence processing
with the SERVO CPU ∙The EAXA21 board rotary switch setting (0) of the corresponding
of 1st SERVO board, node number (SV#1)
and the system did
not startup normally.
Alarm list
2

- 169

2 - 170
Alarm list
No. Code
quence processing
of 2nd SERVO board, node number (SV#2)
and the system did
No. Code
quence processing
of 3rd SERVO board, node number (SV#3)
and the system did
Alarm list
2
- 171
2 - 172
Alarm list
No. Code
quence processing
of 4th SERVO board, node number (SV#4)
and the system did
No. Code
quence processing
and the system did
Alarm list
2
- 173
2 - 174
Alarm list
No. Code
quence processing
and the system did
No. Code
quence processing
and the system did
Alarm list
2
- 175
2 - 176
Alarm list
No. Code
quence processing
and the system did
No. Code
quence processing
with the CPU of 1st ∙The YSF25 board (#1) rotary switch setting (0).
functional safety ∙The EAXA21 board rotary switch setting (0) of the corresponding
board, and the sys- node number (SV#1)
tem did not startup
normally.
Alarm list
2
- 177
2 - 178
Alarm list
No. Code
quence processing
with the CPU of 2nd ∙The YSF25 board (#2) rotary switch setting (1).
tem did not startup
normally.
No. Code
quence processing
with the CPU of 3rd ∙The YSF25 board (#3) rotary switch setting (2).
tem did not startup
normally.
Alarm list
∙The YSF25 board
2
- 179
2 - 180
Alarm list
No. Code
quence processing
with the CPU of 4th ∙The YSF25 board (#3) rotary switch setting (2).
tem did not startup
normally.
∙The YSF25 board
No. Code
quence processing
tem did not startup
normally.
Alarm list
2
- 181
2 - 182
Alarm list
No. Code
quence processing
tem did not startup
normally.
No. Code
quence processing
tem did not startup
normally.
Alarm list
2
- 183
2 - 184
Alarm list
No. Code
quence processing
tem did not startup
normally.
No. Code
before alarm occur.
0420 DEVICENET AL- 1 The DeviceNet allo- Setting error (1) Check the following settings.
LOC FL TRANSMIT cation file1 could not [XFB01 board]
ERR be transmitted to the
specified station. ∙The settings of the objective DeviceNet allocation file
MAINTENANCE mode
mode
XFB01B board failure (1) Turn the power OFF then back ON.
∙XFB01B board
Alarm list
2
- 185
2 - 186
Alarm list
No. Code
(2) If the alarm occurs again, replace the YIF01 board
2 The DeviceNet allo- Setting error (1) Check the following settings.[XFB01 board]
cation file2 could not ∙The settings of the objective DeviceNet allocation file
be transmitted to the
specified station. ∙The I/O module settings of the objective DeviceNet board in
MAINTENANCE mode
mode
XFB01B board failure (1) Turn the power OFF then back ON.
∙XFB01B board
No. Code
0500 SEGMENT PROC Setting error (1) Check the following settings.
NOT READY ∙Instruction execution cycle
0510 SOFTWARE VER- 20 1st option board's in- YCP21 board failure (1) Turn the power OFF then back ON.
SION UNMATCH terface version is not (2) If the alarm occurs again, replace the YCP21 board.
corresponding to
YCP21. Save the CMOS.BIN before replace the board to be safe.
Alarm list
2
- 187
2 - 188
Alarm list
No. Code
21 2nd option board's in- YCP21 board failure (1) Turn the power OFF then back ON.
terface version is not (2) If the alarm occurs again, replace the YCP21 board.
corresponding to
30 YSF21 board's boot Software error (1) Turn the power OFF then back ON.
interface version is (2) If the alarm occurs again, check the YSF21 board version and
not corresponding to then consult your YASKAWA representative.
YCP21.
50 1st SERVO board's YCP21 board failure (1) Turn the power OFF then back ON.
interface version is (2) If the alarm occurs again, replace the YCP21 board.
not corresponding to
No. Code
51 2nd SERVO board's YCP21 board failure (1) Turn the power OFF then back ON.
52 3rd SERVO board's YCP21 board failure (1) Turn the power OFF then back ON.
Alarm list
2
- 189
2 - 190
Alarm list
No. Code
53 4th SERVO board's YCP21 board failure (1) Turn the power OFF then back ON.
No. Code
Alarm list
2
- 191
2 - 192
Alarm list
No. Code
60 The software version Software error (1) Turn the power OFF then back ON.
of the functional safe- (2) If the alarm occurs again, check the YSF25 board version and
ty board connected to then consult your YASKAWA representative.
the 1st SERVO board
is unmatched.
No. Code
the 2nd SERVO
board is unmatched.
the 3rd SERVO board
is unmatched.
the 4th SERVO board
is unmatched.
the 5th SERVO board
is unmatched.
Alarm list
2
- 193

2 - 194
Alarm list
No. Code
the 6th SERVO board
is unmatched.
the 7th SERVO board
is unmatched.
the 8th SERVO board
is unmatched.
of the YSF21 board is (2) If the alarm occurs again, check the YSF25 board version and
unmatched. then consult your YASKAWA representative.
No. Code
0520 AXIS LIMIT OVER 0 Setting error (1) Check the following settings.
∙Control group settings in MAINTENANCE mode
0600 MEDAR STATUS MADER timer error Refer to the instruction manual for the MEDAR function.
ERROR
other If the alarm occurs again, save the CMOS.BIN in M mode, and
then contact your YASKAWA representative about occurrence
status (operating procedure).
0601 MEDAR DIAGNO- MADER timer error Refer to the instruction manual for the MEDAR function.
SIS ERROR
0602 MEDAR VERSION MADER timer error Refer to the instruction manual for the MEDAR function.
Alarm list
ERROR
2
- 195
2 - 196
Alarm list
0603 MEDAR REVISION MADER timer error Refer to the instruction manual for the MEDAR function.
ERROR
0604 MEDAR MODE MADER timer error Refer to the instruction manual for the MEDAR function.
CHANGE ERROR
0605 MEDAR SCHED- MADER timer error Refer to the instruction manual for the MEDAR function.
ULE TRANSMIT
ERROR
0606 MEDAR ERROR 1 MADER timer error Refer to the instruction manual for the MEDAR function.
0607 MEDAR ERROR 2 MADER timer error Refer to the instruction manual for the MEDAR function.
0608 MEDAR WELDER MADER timer error Refer to the instruction manual for the MEDAR function.
TYPE MISMATCH
0609 MEDAR PARAME- MADER timer error Refer to the instruction manual for the MEDAR function.
TER ERROR
0610 MEDAR STEPPER MADER timer error Refer to the instruction manual for the MEDAR function.
TRANSMIT ERROR
0700 VERIFY ERROR (1) Turn the power OFF then back ON.
(EX IO ALLOC (2) If the alarm occurs again, initialize the appropriate data in
FILE) MAINTENANCE mode, and then set the IO module.
Data error (1) Turn the power OFF then back ON.
occurred.
YIF01 board failure If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
0710 LADDER INITIAL- Data error (1) Turn the power OFF then back ON.
IZE ERROR (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
Alarm list
2
- 197
2 - 198
Alarm list
occurred.
0720 LADDER PRO- 1 An error was found in Data error (1) Turn the power OFF then back ON.
GRAM ERROR the relay No. specifi- (2) If the alarm occurs again, initialize the appropriate data in
cation. MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
occurred.
2 An error was found in Data error (1) Turn the power OFF then back ON.
the register No. spec- (2) If the alarm occurs again, initialize the appropriate data in
ification. MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
occurred.
3 An incorrect instruc- Data error (1) Turn the power OFF then back ON.
tion was set. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
4 Output register is Data error (1) Turn the power OFF then back ON.
used redundantly. (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
2
nal memory device.

- 199
2 - 200
Alarm list
occurred.
5 Output relay is used Data error (1) Turn the power OFF then back ON.
redundantly. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
6 Unconnected relay Data error (1) Turn the power OFF then back ON.
exists. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
7 The STR instructions Data error (1) Turn the power OFF then back ON.
are overused. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
8 The AND-STR in- Data error (1) Turn the power OFF then back ON.
structions are over- (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
used. MAINTENANCE mode, and then load the data saved in the exter-
2
nal memory device.

- 201
2 - 202
Alarm list
occurred.
9 A syntax error was Data error (1) Turn the power OFF then back ON.
found in the CNT in- (2) If the alarm occurs again, initialize the appropriate data in
struction. MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
occurred.
10 The head of the block Data error (1) Turn the power OFF then back ON.
starts with an instruc- (2) If the alarm occurs again, initialize the appropriate data in
tion other than the MAINTENANCE mode, and then load the data saved in the exter-
STR instruction. nal memory device.
occurred.
11 Excessive machine Data error (1) Turn the power OFF then back ON.
codes (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
12 The last instruction is Data error (1) Turn the power OFF then back ON.
not the END instruc- (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
tion. MAINTENANCE mode, and then load the data saved in the exter-
2
nal memory device.

- 203
2 - 204
Alarm list
occurred.
the PART instruction. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
the GOUT instruction. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
15 The No. of operand is Data error (1) Turn the power OFF then back ON.
incorrect. (2) If the alarm occurs again, initialize the appropriate data in
nal memory device.
occurred.
16 The constant value is Data error (1) Turn the power OFF then back ON.
incorrect. (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
2
nal memory device.

- 205
2 - 206
Alarm list
occurred.
17 The step capacity ex- Data error (1) Turn the power OFF then back ON.
ceeds the memory (2) If the alarm occurs again, initialize the appropriate data in
capacity. MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
occurred.
18 The number of opera- Data error (1) Turn the power OFF then back ON.
tion instructions ex- (2) If the alarm occurs again, initialize the appropriate data in
ceed the permissible MAINTENANCE mode, and then load the data saved in the exter-
value. nal memory device.
occurred.
found in the CNT in- (2) If the alarm occurs again, initialize the appropriate data in
struction or TMR in- MAINTENANCE mode, and then load the data saved in the exter-
struction. nal memory device.
occurred.
found in the JMP-LA- (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
BEL instructions. MAINTENANCE mode, and then load the data saved in the exter-
2
nal memory device.

- 207
2 - 208
Alarm list
occurred.
21 The label of JMP des- Data error (1) Turn the power OFF then back ON.
tination does not ex- (2) If the alarm occurs again, initialize the appropriate data in
ist. MAINTENANCE mode, and then load the data saved in the exter-
nal memory device.
occurred.
0730 COMMUNICATION 0 Welder power serial I/ YCP21 board failure (1) Turn the power OFF then back ON.
ERROR F task cannot be cre- (2) If the alarm occurs again, replace the YCP21 board. Save the
(SKS-SERIAL) ated. CMOS.BIN before replace the board to be safe. Replace the
1 Incorrect values are Setting error (1)Check the following setting.
set for the communi- ∙The number of communication frames for Welder power serial
cation frame number communication (RS262)
with the welder pow-
er.
set for the number of ∙The number of the sending bytes for Welder power serial com-
the sending bytes per munication (RS262)
frame with the welder
power.
set for the number of ∙The number of the receiving bytes for Welder power serial com-
the receiving bytes munication (RS262)
Alarm list
per frame with the
2
welder power.
- 209
2 - 210
Alarm list
10 The binary sema- YCP21 board failure (1) Turn the power OFF then back ON.
phore to start up (2) If the alarm occurs again, replace the YCP21 board. Save the
event for Welder pow- CMOS.BIN before replace the board to be safe. Replace the
er serial I/F task can- YCP21 board, and then remove the CF from the failure YCP21
not be created. board to insert it into the new YCP21 board.
11 The event resource YCP21 board failure (1) Turn the power OFF then back ON.
for Welder power seri- (2) If the alarm occurs again, replace the YCP21 board. Save the
al I/F task cannot be CMOS.BIN before replace the board to be safe. Replace the
created YCP21 board, and then remove the CF from the failure YCP21
12 The completion notifi- YCP21 board failure (1) Turn the power OFF then back ON.
cation mail of Welder (2) If the alarm occurs again, replace the YCP21 board.
power serial I/F task
cannot be created. Save the CMOS.BIN before replace the board to be safe.
13 Welder power serial I/ YCP21 board failure (1) Turn the power OFF then back ON.
F task cannot be cre- (2) If the alarm occurs again, replace the YCP21 board.
ated.
0770 SAFETY FIELDBUS 1 Safety slave and Setting error (1) Check the following settings.
SET ERR(YCP21) standard master are ·Select {SYSTEM} - {SETUP} - {OPTION BOARD} settings in
used simultaneously MAINTENANCE mode. Display the slot (channel) that is config-
in one channel of the ured with DeviceNet Safety, set to slave mode.
DeviceNet board.
2 Board that can not be Setting error (1) Check the following settings.
used with DeviceNet · Insert the SST-DN4-PCU board to the PCI slot to be used in the
Safety is set. DeviceNet Safety. Select {SYSTEM} - {SETUP} - {OPTION
BOARD]} settings in MAINTENANCE mode, set the DeviceNet
Safety.
SST-DN4-PCU board (1) Turn the power OFF then back ON.
failure (2) If the alarm occurs again, replace the SST-DN4-PCU board.
Replace the SST-DN4-PCU board, and then load the CMOS.BIN
saved before alarm occurred.
Alarm list
2
- 211
2 - 212
Alarm list
0771 SAFETY FIELDBUS 10000 The error was detect- SST-DN4-PCU board In the case of DeviceNet Safety, please check the following.
SYS ERR(YCP21) ed by the safety field- failure (1) Turn the power OFF then back ON.
bus proccess
(YCP21). SUB Code (2) If the alarm occurs again, replace the SST-DN4-PCU board.
shows the error part Save the CMOS.BIN before replace the board to be safe.
ofsoftware. Replace the SST-DN4-PCU board, and then load the CMOS.BIN
saved before alarm occurred.
Replace the YCP21 board, and then insert the CF card which in-
serted original YCP21 board into the new YCP21 board.
0772 DeviceNet Safety Safety reset request Operation failure Turn the power OFF then back ON.
RESET REQUEST was received from the
safety PLC in commu-
nication.
0790 MEMORY BAT- The YIF01 battery is Connection failure (1) Check if the battery is correctly connected to CN110/BAT on
TERY WEAK exhausted. the YIF01 board.
Battery failure (1) Refer to Chapter "Replacing the Battery" in robot controller
Maintenance manual (E1102000152XX01* or higher) and replace
the battery.
No. Code
0800 FILE BACKUP ER- The management YCP21 board failure (1) Turn the power OFF then back ON.
ROR (YCP21 CF) area (FAT) of Com- (2) If the alarm occurs again, replace the YCP21 board.
pact Flash in YCP21
board is damaged. Save the CMOS.BIN before replace the board to be safe.
0801 FILE LOAD ERROR YCP21 board failure (1) Turn the power OFF then back ON.
(YCP21 CF) (2) If the alarm occurs again, replace the YCP21 board.
Alarm list
2
- 213
2 - 214
Alarm list
No. Code
3000 PANELBOX.LOG file DATA failure (1) Turn the power OFF then back ON.
broken (2) If the alarm occurs again, select the following menu.
∙{SYSTEM} - {DATA REBUILD}
Compact Flash failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the Compact Flash.
Replace the Compact Flash, and then load the CMOS.BIN saved
0802 FILE I/O ERROR YCP21 board failure (1) Turn the power OFF then back ON.
(YCP21 CF) (2) If the alarm occurs again, replace the YCP21 board.
0803 FILE ERROR An error occurred YCP21 board failure (1) Turn the power OFF then back ON.
during the parameter (2) If the alarm occurs again, replace the YCP21 board.
of Manipulator Model Save the CMOS.BIN before replace the board to be safe.
(mecha.rom) loading.
No. Code
0804 DATA ACCESS ER- other Select the following menu in MAINTENANCE mode and execute
ROR(VARIABLE {DATA REBUILD} operation.
AREA) ·{SYSTEM} - {DATA REBUILD}
Even if you perform the above operation, the variable data won't
be deleted.
0810 TOYOPUC ALLOC 1 An error was found in Setting error (1) Check the following settings.
DEF ERROR the input/output direc- ∙Allocation configuration for the TOYOPUC
tion data of allocation
configuration.
∙The PCI connector of the TOYOPUC board
Alarm list
2
- 215
2 - 216
Alarm list
No. Code
3 In the output side set- Setting error (1) Check the following settings.
ting of allocation con- ∙Allocation configuration for the TOYOPUC
figuration data, the
specified
R-register start No.
for the TOYOPUC ex-
ceeds the R-register
limit.
set number to use the
input side R-register
of the TOYOPUC ex-
limit.
No. Code
M-register of concur-
rent I/O exceeds the
M-register limit.
8 An error was found in Setting error (1) Check the following settings.
the type set for output ∙Allocation configuration for the TOYOPUC
direction of allocation
configuration data.
the type set for input ∙Allocation configuration for the TOYOPUC
direction of allocation
configuration data.
Alarm list
2
- 217
2 - 218
Alarm list
No. Code
the type specified for ∙Allocation configuration for the TOYOPUC
system data of alloca-
tion configuration da-
ta.
the specified number ∙Allocation configuration for the TOYOPUC
of registers which are
used by the system
data "CURR.POS.
(PULSE)" of alloca-
tion configuration.
No. Code
used by the system
data "CURR.POS.
(XYZ)" of allocation
configuration.
used by the system
data "WELDING IN-
FO." of allocation
configuration.
Alarm list
2
- 219

2 - 220
Alarm list
No. Code
used by the system
data "TASK INFO." of
allocation configura-
tion.
used by the system
data "EXECUTE
PROGRAM INFO." of
allocation configura-
tion.
No. Code
used by the system
data "INST. MES-
SAGE" of allocation
configuration.
of registers for
"Alarm/Error/Mes-
sage" in the system
data of Allocation set-
ting information.
Alarm list
2
- 221
2 - 222
Alarm list
No. Code
30 In the input side set- Setting error (1) Check the following settings.
specified R-register
start No. for the
TOYOPUC exceeds
the R-register limit.
input side R-register
of the TOYOPUC ex-
limit.
No. Code
M-register of concur-
rent I/O exceeds the
M-register limit.
used by the system
data "standard time
setting data" of allo-
cation configuration.
Alarm list
2
- 223
2 - 224
Alarm list
No. Code
figuration data, some
of the TOYOPUC’s R-
registers are speci-
fied redundantly.
of the M-registers of
concurrent I/O are
specified redundantly.
No. Code
of the TOYOPUC’s R-
registers are speci-
fied redundantly.
of the M-registers of
concurrent I/O are
specified redundantly.
Alarm list
2
- 225
2 - 226
Alarm list
No. Code
0831 FORCE SENSOR 1000 +channel×100 Hardware failure (1) After checking the following two terms, turn the power OFF
COMMUNICATION +factor: then back ON.
ERROR ·the connection status
0 send complete error
1 receive time out ·the sensor type
2 receive break letter (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3 framing error about occurrence status (operating procedure).
4 parity error
5 over run error
6 receive length error
7 no STX control let-
ter
8 no ETB control let-
ter
9 BCC error
10 sequence number
error
11 sensor detection
error
0900 WATCHDOG TIM- A Watchdog timeout YCP21 board failure (1) Turn the power OFF then back ON.
ER ERROR(YIF01 was detected in the (2) If the alarm occurs again, replace the YCP21 board.
board) YIF01 board.
No. Code
0901 WATCHDOG TIM- A Watchdog timeout Setting error (1) Check the following settings.
ER ER- was detected in the ∙Optional board in MAINTENANCE mode
ROR(YCP02#1) YCP02 #1 board.
∙YCP02 board
∙YCP02 board
Alarm list
2
- 227
2 - 228
Alarm list
No. Code
∙YCP02 board
No. Code
∙YCP02 board
∙YCP02 board
Alarm list
2
- 229
2 - 230
Alarm list
No. Code
∙YCP02 board
∙YCP02 board
No. Code
∙YCP02 board
0909 WATCHDOG TIM- 0 A Watchdog timeout YSF21 board failure (1) Turn the power OFF then back ON.
ER ERROR(SF21) was detected in the (2) If the alarm occurs again, replace the following board.
YSF21 board.
∙YSF21 board
Alarm list
2
- 231
2 - 232
Alarm list
No. Code
1 YSF21 board failure (1) Turn the power OFF then back ON.
∙YSF21 board
No. Code
0910 CPU ERROR 1 An error was detected YCP21 board failure (1) Turn the power OFF then back ON.
(YCP21) in the CPU. (2) If the alarm occurs again, replace the YCP21 board.
Software operation If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
error occurred mode, and then contact your YASKAWA representative about oc-

0911 CPU ERROR An error was detected Setting error (1) Check the following settings.
(YCP02#1) in the CPU. ∙Optional board in MAINTENANCE mode
∙YCP02 board
Alarm list
2

- 233
2 - 234
Alarm list
No. Code
∙YCP02 board
∙YCP02 board
No. Code
∙YCP02 board
∙YCP02 board
Alarm list
2
- 235

2 - 236
Alarm list
No. Code
∙YCP02 board
∙YCP02 board
No. Code
∙YCP02 board
0919 CPU ERROR(SF21) 0 YSF21 board failure (1) Turn the power OFF then back ON.
∙YSF21 board
Alarm list
2
- 237
2 - 238
Alarm list
No. Code
1 YSF21 board failure (1) Turn the power OFF then back ON.
∙YSF21 board
0931 CPU HANG UP ER- An error was detected Setting error (1) Check the following settings.
ROR(YCP02#1) in the CPU. ∙Optional board in MAINTENANCE mode
No. Code
∙YCP02 board
Software operation (1) Turn the power OFF then back ON.
error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
∙YCP02 board
Alarm list
2

- 239
2 - 240
Alarm list
No. Code
∙YCP02 board
No. Code
∙YCP02 board
∙YCP02 board
Alarm list
2

- 241
2 - 242
Alarm list
No. Code
∙YCP02 board
No. Code
∙YCP02 board
∙YCP02 board
Alarm list
2

- 243
2 - 244
Alarm list
No. Code
0940 WATCHDOG TIM- A Watchdog timeout EAXA21 board failure (1) Check the following settings.
ER ERROR(EA- was detected in the ∙Optional board in MAINTENANCE mode
XA#1) EAXA#1 board.
∙YCP02 board
other (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
0941 WATCHDOG TIM- A Watchdog timeout EAXA21 board failure (1) Check the following settings.
ER ERROR(EA- was detected in the ∙Optional board in MAINTENANCE mode
XA#2) EAXA#2 board.
No. Code
∙YCP02 board
0942 WATCHDOG TIM- A Watchdog timeout EAXA21 board failure (1) Turn the power OFF then back ON.
ER ERROR(EA- was detected in the (2) If the alarm occurs again, replace the following board.
XA#3) EAXA#3 board.
∙EAXA21 board
Alarm list
2

- 245
2 - 246
Alarm list
No. Code
XA#4) EAXA#4 board.
∙EAXA21 board
XA#5) EAXA#5 board.
∙EAXA21 board
No. Code
XA#6) EAXA#6 board.
∙EAXA21 board
Alarm list
2
- 247

2 - 248
Alarm list
No. Code
XA#7) EAXA#7 board.
∙EAXA21 board
XA#8) EAXA#8 board.
∙EAXA21 board
No. Code
0950 CPU ERROR (EA- An error was detected Connection failure (1) Turn the power OFF then back ON.
XA#1) in the CPU of servo (2) If the alarm occurs again, check the connection and insertion
board #1. of the following cables and connectors.
Alarm list
2
- 249
2 - 250
Alarm list
No. Code
No. Code
Alarm list
2
- 251
2 - 252
Alarm list
No. Code
No. Code
Alarm list
2
- 253
2 - 254
Alarm list
No. Code
No. Code
Alarm list
2
- 255
2 - 256
Alarm list
No. Code
0957 CPU ERROR EA- An error was detected Connection failure (1) Turn the power OFF then back ON.
No. Code
0970 CPU ERROR 0 An error was detected Connection failure (1) Turn the power OFF then back ON.
(YSF25#1) in the CPU of func- (2) If the alarm occurs again, check the connection and insertion
tional safety board #1 of the following connector.
(CPU1).
∙EAXA21 board
Alarm list
2

- 257

2 - 258
Alarm list
No. Code
1 An error was detected Connection failure (1) Turn the power OFF then back ON.
in the CPU of func- (2) If the alarm occurs again, check the connection and insertion
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 259

2 - 260
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 261

2 - 262
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 263

2 - 264
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 265

2 - 266
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 267

2 - 268
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 269

2 - 270
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
(CPU1).
∙EAXA21 board
Alarm list
2

- 271

2 - 272
Alarm list
No. Code
(CPU2).
∙EAXA21 board
No. Code
0980 WATCHDOG TIM- A Watchdog timeout YSF25 board failure (1) Turn the power OFF then back ON.
ER ERROR was detected in the (2) If the alarm occurs again, replace the YSF25 board.
(YSF25#1) functional safety
board #1. Save the CMOS.BIN before replace the board to be safe.
∙EAXA21 board
ER ER- was detected in the (2) If the alarm occurs again, replace the YSF25 board.
ROR(YSF25#2) functional safety
Alarm list
2

- 273
∙EAXA21 board
2 - 274
Alarm list
No. Code
Save the CMOS.BIN before replace the board to be safe. Replace
the YIF01 board, and then load the CMOS.BIN saved before
alarm occurred.
∙EAXA21 board
No. Code
∙EAXA21 board
Alarm list
2

- 275

2 - 276
Alarm list
No. Code
∙EAXA21 board
∙EAXA21 board
No. Code
∙EAXA21 board
Alarm list
2
- 277
2 - 278
Alarm list
No. Code
∙EAXA21 board
No. Code
0990 SYSTEM ERROR 1 YCP21board detect Execute condition Turn the power OFF after the online window appears on the pro-
(YCP21) the Controller power failure gramming pendant.
off signal (Power lost
signal) of YIF01 board
when the control pow-
er turned ON. This
alarm may occur,
er turned OFF before
an online screen is
displayed by a pro-
gramming pendant,
YPS unit failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YPS unit.
Alarm list
2
- 279
2 - 280
Alarm list
No. Code
2 YCP21board detect YIF01 board failure (1) Turn the power OFF then back ON.
the WATCHDOG (2) If the alarm occurs again, replace the YIF01 board.
TIMER ERROR of
YIF01 board when the Save the CMOS.BIN before replace the board to be safe.
control power turned Replace the YIF01 board, and then load the CMOS.BIN saved
ON. before alarm occurred.
the Servo IF Initialize (2) If the alarm occurs again, replace the YIF01 board.
error of YIF01 board
when the control pow- Save the CMOS.BIN before replace the board to be safe.
er turned ON. Replace the YIF01 board, and then load the CMOS.BIN saved
No. Code
the IO IF Initialize er- (2) If the alarm occurs again, replace the YIF01 board.
ror of YIF01 board
Alarm list
2
- 281
2 - 282
Alarm list
No. Code
5 Processing time error YIF01 board failure (1) Turn the power OFF then back ON.
of the IO processing (2) If the alarm occurs again, replace the YIF01 board.
No. Code
6 Processing time error YIF01 board failure (1) Turn the power OFF then back ON.
of the SV communica- (2) If the alarm occurs again, replace the YIF01 board.
tion,
Alarm list
2
- 283
2 - 284
Alarm list
No. Code
7 It was detected that Connection failure (1) Turn the power OFF then back ON.
AC power supply be- (2) If the alarm occurs again, check the connection and insertion
came less than the of the following cables and connectors.
specified voltage.
∙The cable of YPS unit connector CN158/159
∙The CN5 connector of the YBB21 back board.
∙Cable replace between the YPS unit and the YBB21 back board.
3xxx YCP21board detect YIF01 board failure (1) Turn the power OFF then back ON.
the Servo IF Initialize (2) If the alarm occurs again, replace the YIF01 board.
error of YIF01 board
The last three digits before alarm occurred.
indicate an internal
error code.
No. Code
4xxx YCP21board detect YIF01 board failure (1) Turn the power OFF then back ON.
the IO IF Initialize er- (2) If the alarm occurs again, replace the YIF01 board.
ror of YIF01 board
The last three digits before alarm occurred.
indicate an internal
error code.
Alarm list
2
- 285

2 - 286
Alarm list
No. Code
0991 SYSTEM ERROR 1 An error was detected YCP02 board failure (1) Turn the power OFF then back ON.
(YCP02#1) in the CPU of the op- (2) If the alarm occurs again, replace the following board.
tional YCP02 #1.
∙YCP02 board
tional YCP02 #2.
∙YCP02 board
No. Code
tional YCP02 #3.
∙YCP02 board
Alarm list
2

- 287
2 - 288
Alarm list
No. Code
tional YCP02 #4.
∙YCP02 board
tional YCP02 #5.
∙YCP02 board
No. Code
tional YCP02 #6.
∙YCP02 board
Alarm list
2

- 289
2 - 290
Alarm list
No. Code
tional YCP02 #7.
∙YCP02 board
tional YCP02 #8.
∙YCP02 board
No. Code
0999 NMI ERROR Software operation If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
error occurred mode, and then contact your YASKAWA representative about oc-
Alarm list
2
- 291
2.3.2 Alarm number 1000 - 1999
2 - 292
Alarm list
No. Code
1000 ROM ER- Software operation (1) Turn the power OFF then back ON.
ROR(YCP21) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1001 ROM ERROR(EA- 11 A checksum error oc- EAXA21 board failure (1) Turn the power OFF then back ON.
XA21) curred in the board or (2) If the alarm occurs again, replace the EAXA21 board.
the EEPROM.
(*: axis No.) Save the CMOS.BIN before replace the board to be safe.
other If the alarm occurs again, save the CMOS.BIN in MAINTE-

12 A checksum error oc- EAXA21 board failure (1) Turn the power OFF then back ON.
curred in the board or (2) If the alarm occurs again, replace the EAXA21 board.
the EEPROM.(*: axis
No.) Save the CMOS.BIN before replace the board to be safe.

the EEPROM.

the EEPROM.
No. Code
the EEPROM.

the EEPROM.

the EEPROM.

the EEPROM.

Alarm list
2

- 293
2 - 294
Alarm list
No. Code
the EEPROM.
20 The SRDY signal did EAXA21 board failure (1) Turn the power OFF then back ON.
not turn ON after the (2) If the alarm occurs again, replace the EAXA21 board.
WRITE ENABLE
command was writ- Save the CMOS.BIN before replace the board to be safe.
ten. (EEPROM
WRITE ENABLE er-
ror)
WRITE PROTECT
command was writ- Save the CMOS.BIN before replace the board to be safe.
ten. (EEPROM
WRITE PROTECT er-
ror)
ERASE command
was written. (EE- Save the CMOS.BIN before replace the board to be safe.
PROM ERASE error)
No. Code
CLEAR command
was written. (EE- Save the CMOS.BIN before replace the board to be safe.
PROM CLEAR error)
not turn ON after data (2) If the alarm occurs again, replace the EAXA21 board.
were written. (EE-
PROM writing error) Save the CMOS.BIN before replace the board to be safe.

not turn ON after data (2) If the alarm occurs again, replace the EAXA21 board.
were read. (EEPROM
reading error) Save the CMOS.BIN before replace the board to be safe.

26 The written data were EAXA21 board failure (1) Turn the power OFF then back ON.
rejected at verifica- (2) If the alarm occurs again, replace the EAXA21 board.
tion. (EEPROM verify
error) Save the CMOS.BIN before replace the board to be safe.
Alarm list
2

- 295

2 - 296
Alarm list
No. Code
1020 MotoPlus applica- 1 Num of the Applica- Setting error Delete unnecessary application files "*.out" by MotoPlus menu
tion load error tion files on the in the MAINTENANCE mode in order not to exceed the file num-
YCP21 CF is over the ber limitation.
limit.
2 Insufficient memory Setting error Under current system configuration and option function combi-
space. nation, there is not enough memory to run MotoPlus application.
At the loading time, If the alarm occurs again, save the CMOS.BIN in MAINTE-
remaining CPU mem- NANCE mode, and then contact your YASKAWA representative
ory is less than about occurrence status (operating procedure).
2Mbyte (Stipulated
memory size for Mo- It may be necessary to replace the YCP21 with the one with
toPlus) . larger memory.
3 MotoPlus application Setting error (1) Turn the power OFF then back ON.
folder "/Applica- (2) If the alarm occurs again, replace the YCP21 board.
tion"cannot be found.
Replace the YCP21 board, and then remove the CF from the
failure YCP21 board to insert it into the new YCP21 board.
4 Memory size (Code Setting error (1) Check the static memory definition of the application pro-
area + static variable gram.
area) required by Mo- (2) Redesign the application program in order not to exceed the
toPlus Application is memory size limitation.
over the lim-
it(2Mbyte).
No. Code
5 Undefined symbols Setting error Check that the application program doesn't include any unde-
are included in the ap- fined symbols such as function and constant that are not provid-
plication. The Sym- ed by the system.
bols are not included
in the MotoPlusAPI li-
brary or standard
function library.
6 Load failure (The ap- Setting error (1)Check if the static variables are correctly defined in the Mo-
plication cannot be toPlus application.
loaded since the (2)Review the MotoPlus application program so that the memo-
memory (program ry used for it doesn't exceed the specified value.
area + static variable
area) that the MotoP- (3)Check if the object files are correctly created by MotoP-
lus application re- lusIDE.
quires exceeds the
specified value
(2Mbyte) .)
7 API library initializa- Setting error Under current system configuration and the combination of op-
tion failure because of tional functions, the YCP21 board (Main CPU board) doesn't
Insufficient system have enough memory to run MotoPlus application.
memory to load Mo- If the alarm occurs again, save the CMOS.BIN in MAINTE-
toPlusAPI library NANCE mode, and then contact your YASKAWA representative
It may be necessary to change the YCP21 board to the one with
Alarm list
a large-capacity memory.
2
- 297
2 - 298
Alarm list
No. Code
8 User root task "mpUs- Setting error Check if mpUsrRoot() is described in the application program.
rRoot()" not included
in the application
9 User root task gener- Setting error Under current system configuration and the combination of op-
ation failure tional functions, the YCP21 board (Main CPU board) doesn't
have enough memory to run MotoPlus application.
If the alarm occurs again, save the CMOS.BIN in MAINTE-
10 RAM-Disk genera- Setting error Under current system configuration and the combination of op-
tion failure tional functions, the YCP21 board (Main CPU board) doesn't
have enough memory to run MotoPlus application.
1030 MEMORY ERROR 0 RCD, RCxG parame- Data error (1) Turn the power OFF then back ON.
(PARAMETER ter error (2) If the alarm occurs again, initialize the appropriate parameter
FILE) file in MAINTENANCE mode, and then load the parameter file
saved in the external memory device.
No. Code
1 ROxG parameter er- Data error (1) Turn the power OFF then back ON.
ror (2) If the alarm occurs again, initialize the appropriate parameter
file in MAINTENANCE mode, and then load the parameter file
2 SVD, SVxG parame- Data error (1) Turn the power OFF then back ON.
ter error (2) If the alarm occurs again, initialize the appropriate parameter
Alarm list
2
- 299

2 - 300
Alarm list
No. Code
3 SVMxG parameter Data error (1) Turn the power OFF then back ON.
error (2) If the alarm occurs again, initialize the appropriate parameter
4 S1CxG, S2C, S3C, Data error (1) Turn the power OFF then back ON.
S4C parameter error (2) If the alarm occurs again, initialize the appropriate parameter
No. Code
5 S1D, S2D, S3D, S4D Data error (1) Turn the power OFF then back ON.
parameter error (2) If the alarm occurs again, initialize the appropriate parameter
6 CIO parameter error Data error (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, initialize the appropriate parameter
7 FD parameter error Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 301
2 - 302
Alarm list
No. Code
8 A1P, A2P, …, A8P pa- Data error (1) Turn the power OFF then back ON.
rameter error (2) If the alarm occurs again, initialize the appropriate parameter
9 RS parameter error Data error (1) Turn the power OFF then back ON.
No. Code
10 S1E, S2E, …, S8E Data error (1) Turn the power OFF then back ON.
parameter error (2) If the alarm occurs again, initialize the appropriate parameter
11 SVCxB parameter er- Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 303
2 - 304
Alarm list
No. Code
12 AMCxG parameter Data error (1) Turn the power OFF then back ON.
error (2) If the alarm occurs again, initialize the appropriate parameter
13 SVPxG parameter er- Data error (1) Turn the power OFF then back ON.
14 MFxG parameter er- Data error (1) Turn the power OFF then back ON.
No. Code
15 SVSxB parameter er- Data error (1) Turn the power OFF then back ON.
16 RExG parameter er- Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 305

2 - 306
Alarm list
No. Code
1031 MEMORY ER- 0 "GET FILE" instruc- Data error (1) Turn the power OFF then back ON.
ROR(MOTION1) tion, "SET FILE" in- (2) If the alarm occurs again, initialize the appropriate data in
struction execution MAINTENANCE mode, and then load the data saved in the ex-
target file ternal memory device.
1 Home position cali- Data error (1) Turn the power OFF then back ON.
bration file (2) If the alarm occurs again, initialize the appropriate data in
MAINTENANCE mode, and then load the data saved in the ex-
ternal memory device.
2 Tool file Data error (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, initialize the appropriate data in
3 User coordinates file Data error (1) Turn the power OFF then back ON.
No. Code
4 Robot calibration file Data error (1) Turn the power OFF then back ON.
5 Tool calibration file Data error (1) Turn the power OFF then back ON.
6 Weaving amplitude Data error (1) Turn the power OFF then back ON.
condition file (2) If the alarm occurs again, initialize the appropriate data in
7 Home position cor- Data error (1) Turn the power OFF then back ON.
rection data file (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
2
- 307
2 - 308
Alarm list
No. Code
8 Conveyor calibration Data error (1) Turn the power OFF then back ON.
file (2) If the alarm occurs again, initialize the appropriate data in
9 Arm and tool interfer- Data error (1) Turn the power OFF then back ON.
ence prevention file (2) If the alarm occurs again, initialize the appropriate data in
20 Weaving file Data error (1) Turn the power OFF then back ON.
21 Power Source condi- Data error (1) Turn the power OFF then back ON.
tion data file (2) If the alarm occurs again, initialize the appropriate data in
No. Code
22 Welding condition Data error (1) Turn the power OFF then back ON.
auxiliary file (2) If the alarm occurs again, initialize the appropriate data in
23 Arc start condition file Data error (1) Turn the power OFF then back ON.
24 Arc end condition file Data error (1) Turn the power OFF then back ON.
25 COMARC condition Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 309
2 - 310
Alarm list
No. Code
26 COMARC data file Data error (1) Turn the power OFF then back ON.
27 Path correction condi- Data error (1) Turn the power OFF then back ON.
tion file (2) If the alarm occurs again, initialize the appropriate data in
28 Painting characteris- Data error (1) Turn the power OFF then back ON.
tics file (2) If the alarm occurs again, initialize the appropriate data in
29 Painting condition file Data error (1) Turn the power OFF then back ON.
No. Code
30 Multi-layer index file Data error (1) Turn the power OFF then back ON.
31 Multi-layer condition Data error (1) Turn the power OFF then back ON.
32 Sensor monitoring Data error (1) Turn the power OFF then back ON.
34 Conveyor condition Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 311
2 - 312
Alarm list
No. Code
35 Press characteristics Data error (1) Turn the power OFF then back ON.
36 Servo float condition Data error (1) Turn the power OFF then back ON.
37 Spot welding Power Data error (1) Turn the power OFF then back ON.
Source condition data (2) If the alarm occurs again, initialize the appropriate data in
file MAINTENANCE mode, and then load the data saved in the ex-
38 Air-gun condition file Data error (1) Turn the power OFF then back ON.
No. Code
39 Motor-gun condition Data error (1) Turn the power OFF then back ON.
40 Gun pressure file Data error (1) Turn the power OFF then back ON.
41 Gun pressure file Data error (1) Turn the power OFF then back ON.
42 Anticipation OT# out- Data error (1) Turn the power OFF then back ON.
put file (2) If the alarm occurs again, initialize the appropriate data in
Alarm list
2
- 313
2 - 314
Alarm list
No. Code
43 Anticipation OG# out- Data error (1) Turn the power OFF then back ON.
put file (2) If the alarm occurs again, initialize the appropriate data in
44 Handling condition Data error (1) Turn the power OFF then back ON.
45 Form cut file Data error (1) Turn the power OFF then back ON.
46 Spot (user) I/O alloca- Data error (1) Turn the power OFF then back ON.
No. Code
47 Linear SERVO float Data error (1) Turn the power OFF then back ON.
48 Macro definition file Data error (1) Turn the power OFF then back ON.
49 Seal amount correc- Data error (1) Turn the power OFF then back ON.
tion condition file (2) If the alarm occurs again, initialize the appropriate data in
(spray) MAINTENANCE mode, and then load the data saved in the ex-
50 Seal amount correc- Data error (1) Turn the power OFF then back ON.
tion condition file (un- (2) If the alarm occurs again, initialize the appropriate data in
dercoat) MAINTENANCE mode, and then load the data saved in the ex-
Alarm list
2
- 315
2 - 316
Alarm list
No. Code
51 Arc monitor file Data error (1) Turn the power OFF then back ON.
53 Job registration table Data error (1) Turn the power OFF then back ON.
54 Painting device con- Data error (1) Turn the power OFF then back ON.
dition file (2) If the alarm occurs again, initialize the appropriate data in
55 Painting system file Data error (1) Turn the power OFF then back ON.
No. Code
56 Painting condition file Data error (1) Turn the power OFF then back ON.
57 Paint characteristics Data error (1) Turn the power OFF then back ON.
58 EVB gun file Data error (1) Turn the power OFF then back ON.
59 Paint filling file Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 317
2 - 318
Alarm list
No. Code
60 Welding pulse condi- Data error (1) Turn the power OFF then back ON.
61 Clearance file Data error (1) Turn the power OFF then back ON.
62 Linear scale condition Data error (1) Turn the power OFF then back ON.
63 Gauging sensor con- Data error (1) Turn the power OFF then back ON.
dition file (2) If the alarm occurs again, initialize the appropriate data in
No. Code
64 Conveyor condition Data error (1) Turn the power OFF then back ON.
auxiliary file (2) If the alarm occurs again, initialize the appropriate data in
65 Laser welding start Data error (1) Turn the power OFF then back ON.
66 Laser welding end Data error (1) Turn the power OFF then back ON.
67 Palletizing condition Data error (1) Turn the power OFF then back ON.
Alarm list
2
- 319
2 - 320
Alarm list
No. Code
68 Air-gun pressure file Data error (1) Turn the power OFF then back ON.
69 Mastering registration Data error (1) Turn the power OFF then back ON.
position (2) If the alarm occurs again, initialize the appropriate data in
86 Paint system config Data error (1) Turn the power OFF then back ON.
87 Paint special file Data error (1) Turn the power OFF then back ON.
No. Code
88 Paint caliblation con- Data error (1) Turn the power OFF then back ON.
fig file (2) If the alarm occurs again, initialize the appropriate data in
89 Paint data config file (1) Turn the power OFF then back ON.
1033 MEMORY ERROR Sub;Model file num- Data error (1) Turn the power OFF then back ON.
(MODEL DATA ber (2) If the alarm occurs again, initialize the appropriate data in
FILE) MAINTENANCE mode, and then load the data saved in the ex-
1034 MEMORY ERROR Sub;force condition Data error (1) Turn the power OFF then back ON.
(F-CONDITION file number (2) If the alarm occurs again, initialize the appropriate data in
FILE) MAINTENANCE mode, and then load the data saved in the ex-
1050 SET-UP PROCESS 1 Motion instruction YCP21 board failure (1) Turn the power OFF then back ON.
ERROR(SYSCON) setup incomplete. (2) If the alarm occurs again, replace the YCP21 board.
Alarm list
2
- 321
2 - 322
Alarm list
No. Code
2 Online error YCP21 board failure (1) Turn the power OFF then back ON.
3 SPOT management YCP21 board failure (1) Turn the power OFF then back ON.
file setup incomplete. (2) If the alarm occurs again, replace the YCP21 board.
Welder I/F board fail- (1) Turn the power OFF then back ON.
ure (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1051 SET-UP PROCESS 1 Unable to properly ac- EAXA21 board failure (1) Turn the power OFF then back ON.
ERROR(MOTION) tivate the SERVO (2) If the alarm occurs again, replace the EAXA21 board. Save
control the CMOS.BIN before replace the board to be safe.
No. Code
2 The position data of EAXA21 board failure (1) Turn the power OFF then back ON.
when the power sup- (2) If the alarm occurs again, replace the EAXA21 board.
ply was turned OFF
cannot be transmitted Save the CMOS.BIN before replace the board to be safe.
to the SERVO control
section
3 The SERVO control EAXA21 board failure (1) Turn the power OFF then back ON.
section cannot re- (2) If the alarm occurs again, replace the EAXA21 board.
ceive the position
data of when the pow- Save the CMOS.BIN before replace the board to be safe.
er supply was turned
OFF
5 Unable to send a re- EAXA21 board failure (1) Turn the power OFF then back ON.
quest to turn ON the (2) If the alarm occurs again, replace the EAXA21 board.
PG power supply for
the mounted (PICK) Save the CMOS.BIN before replace the board to be safe.
axis
Alarm list
2
- 323
2 - 324
Alarm list
No. Code
6 Unable to turn ON the EAXA21 board failure (1) Turn the power OFF then back ON.
PG power supply for (2) If the alarm occurs again, replace the EAXA21 board.
the mounted (PICK)
axis Save the CMOS.BIN before replace the board to be safe.
7 Unable to send a re- EAXA21 board failure (1) Turn the power OFF then back ON.
quest to prepare a (2) If the alarm occurs again, replace the EAXA21 board.
feedback pulse
8 Unable to prepare a EAXA21 board failure (1) Turn the power OFF then back ON.
feedback pulse (2) If the alarm occurs again, replace the EAXA21 board.
No. Code
9 Unable to send a re- YCP21 board failure (1) Turn the power OFF then back ON.
quest to initialize the (2) If the alarm occurs again, replace the YCP21 board.
arithmetic section
(ARITH) Save the CMOS.BIN before replace the board to be safe.
10 Unable to initialize YCP21 board failure (1) Turn the power OFF then back ON.
ARITH (2) If the alarm occurs again, replace the YCP21 board.
11 Unable to send a re- YCP21 board failure (1) Turn the power OFF then back ON.
quest to prepare the (2) If the alarm occurs again, replace the YCP21 board.
current position
Alarm list
2
- 325
2 - 326
Alarm list
No. Code
12 Unable to prepare the YCP21 board failure (1) Turn the power OFF then back ON.
current position (2) If the alarm occurs again, replace the YCP21 board.
1053 SYSTEM ERROR Sub Code Software operation (1) Turn the power OFF then back ON.
(EVENT) 1 to 8: Signifies the in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ternal software error NANCE mode, and then contact your YASKAWA representative
at event process. about occurrence status (operating procedure).
C, B, F: Subcode of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
unknown alarm NANCE mode, and then contact your YASKAWA representative
RAM software data (1) Turn the power OFF then back ON.
error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(MAN-MACHINE 0 to 17: Internal con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
MECHA) trol error in software NANCE mode, and then contact your YASKAWA representative
(MAN-MACHINE 0 to 526: Internal con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
APPLI) trol error in software NANCE mode, and then contact your YASKAWA representative
No. Code
1103 SYSTEM ERROR Software operation (1) Turn the power OFF then back ON.
(EVENT) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1104 SYSTEM ERROR Sub Code Connection failure (1) Turn the power OFF then back ON.
(CIO) 1000_0000: I/O mod- (2) If the alarm occurs again, check the connection and inserting
ule setting error state of the following cables and connectors.
·CN300 communications connector of YIU unit
∙CN304 power supply connector
∙Cable of the YIU board and the expanded I/O board
Setting error (1) Turn the power OFF then back ON.
(2) If the error occurs again, set the I/O module again in MAIN-
TENANCE mode.
(3) If the error occurs again though the previous measures were
executed, save the CMOS.BIN in MAINTENANCE mode, and
1105 SYSTEM ERROR 0 No processing corre- Software operation (1) Turn the power OFF then back ON.
(SERVO) sponds to the com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
mand code sent from NANCE mode, and then contact your YASKAWA representative
2
MOTION section.
- 327

2 - 328
Alarm list
No. Code
Replace the YIF01 board, and then load the CMOS.BIN.
15 An error occurred in Software operation (1) Turn the power OFF then back ON.
the encoder power error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
supply control pro- NANCE mode, and then contact your YASKAWA representative
cess. about occurrence status (operating procedure).
21 A task request was Software operation (1) Turn the power OFF then back ON.
sent to an axis in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
alarm status. NANCE mode, and then contact your YASKAWA representative
No. Code
23 A task request was Software operation (1) Turn the power OFF then back ON.
sent to the general error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
SERVOPACKs. NANCE mode, and then contact your YASKAWA representative
30 The linear SERVO Software operation (1) Turn the power OFF then back ON.
float function or gun error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
arm bend compensa- NANCE mode, and then contact your YASKAWA representative
tion function does not about occurrence status (operating procedure).
support the manipula-
tor type.
31 The Motor gun press Software operation (1) Check the parameter setting value.
XYZ position monitor- error occurred If S1CxG170 is set to the number other than 0 (gun axis),
ing function cannot be change the setting to 0.
applied for the manip-
ulator type specified
in the RC parameter.
32 The parameter relat- Setting error Check the parameter setting value.
ed to motor gun appli-
cation is wrong.
37 The robot (B-axis) Setting error (1) Check the following settings.
passed the singular Correct the JOB so that the robot (B-axis) does not pass the sin-
point while the linear gular point while the linear SERVO float or gun arm bend com-
SERVO float or gun pensation function is running.
Alarm list
arm bend compensa-
2
tion function is run-

- 329
ning.
2 - 330
Alarm list
No. Code
38 The wrist axes correc- Setting error (1) Check the following settings.
tion angle surpassed Correct the teaching point where this alarm occurs.
its limit while the lin- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ear SERVO float or NANCE mode, and then contact your YASKAWA representative
gun arm bend com- about occurrence status (operating procedure).
pensation function is
running.
47 The alarm number is Software operation (1) Turn the power OFF then back ON.
illegal. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
49 Parameter was Software operation (1) Turn the power OFF then back ON.
changed during exe- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cution of SERVO float NANCE mode, and then contact your YASKAWA representative
function. about occurrence status (operating procedure).
52 An error occurred EAXA21 board failure (1) Turn the power OFF then back ON.
when gun control (2) If the alarm occurs again, replace the EAXA21 board. Save
command is execut- the CMOS.BIN before replace the board to be safe.
ed.
60 The axis endless Setting error (1) Check the following settings.
function is set en- Disable the corresponding axis endless function.
abled for motor guns.
No. Code
70 The machine safety YSF21 board failure Replace the YSF21 board which supports for the external axis
unit(YSF21 board) individual control by the secondary contactor.
doesn't support the
external axis individu-
al control by the sec-
ondary contactor.
100 The sequence was Software operation (1) Turn the power OFF then back ON.
untimely executed in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the general-purpose NANCE mode, and then contact your YASKAWA representative
10ms process al- about occurrence status (operating procedure).
though it was not the
execution timing.
the segment_G pro- NANCE mode, and then contact your YASKAWA representative
cess although it was about occurrence status (operating procedure).
not the execution tim-
ing.
Alarm list
2
- 331
2 - 332
Alarm list
No. Code
the general-purpose NANCE mode, and then contact your YASKAWA representative
2ms process al- about occurrence status (operating procedure).
execution timing.
the dynamics calcula- NANCE mode, and then contact your YASKAWA representative
tion process although about occurrence status (operating procedure).
it was not the execu-
tion timing.
the dynamics com- NANCE mode, and then contact your YASKAWA representative
pensation process al- about occurrence status (operating procedure).
execution timing.
No. Code
the SERVO commu- NANCE mode, and then contact your YASKAWA representative
nications CERF send- about occurrence status (operating procedure).
ing process although
it was not the execu-
tion timing.
the SERVO commu- NANCE mode, and then contact your YASKAWA representative
nications CERF re- about occurrence status (operating procedure).
ceiving process
although it was not
the execution timing.
the segment_R pro- NANCE mode, and then contact your YASKAWA representative
cess although it was about occurrence status (operating procedure).
not the execution tim-
ing.
Alarm list
2
- 333
2 - 334
Alarm list
No. Code
110 The universal three Software operation (1) Turn the power OFF then back ON.
clock process execut- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing sequence error NANCE mode, and then contact your YASKAWA representative
process was execut- about occurrence status (operating procedure).
ed according to unex-
pected timing.
the segment_OPT1 NANCE mode, and then contact your YASKAWA representative
process although it about occurrence status (operating procedure).
was not the execution
timing.
the segment_OPT2 NANCE mode, and then contact your YASKAWA representative
process although it about occurrence status (operating procedure).
was not the execution
timing.
No. Code
120 A general-purpose Software operation (1) Turn the power OFF then back ON.
10ms process did not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
complete within the NANCE mode, and then contact your YASKAWA representative
time set on the sched- about occurrence status (operating procedure).
uling table.
121 The segment_G pro- Software operation (1) Turn the power OFF then back ON.
cess did not complete error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
within the time set on NANCE mode, and then contact your YASKAWA representative
the scheduling table. about occurrence status (operating procedure).
123 The general-purpose Software operation (1) Turn the power OFF then back ON.
2ms process did not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
uling table.
125 The dynamics calcu- Software operation (1) Turn the power OFF then back ON.
lation process did not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
uling table.
Alarm list
2
- 335
2 - 336
Alarm list
No. Code
126 The dynamics com- Software operation (1) Turn the power OFF then back ON.
pensation process did error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
not complete within NANCE mode, and then contact your YASKAWA representative
the time set on the about occurrence status (operating procedure).
scheduling table.
127 The CERF transmis- Software operation (1) Turn the power OFF then back ON.
sion process did not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
uling table.
128 The dynamics calcu- Software operation (1) Turn the power OFF then back ON.
lation process did not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
uling table.
No. Code
129 The CERF receiving Software operation (1) Turn the power OFF then back ON.
process did not com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
plete within the time NANCE mode, and then contact your YASKAWA representative
set on the scheduling about occurrence status (operating procedure).
table.
130 The segment_R pro- Software operation (1) Turn the power OFF then back ON.
131 The segment_E pro- Software operation (1) Turn the power OFF then back ON.
132 The segment_OPT1 Software operation (1) Turn the power OFF then back ON.
table.
Alarm list
2
- 337
2 - 338
Alarm list
No. Code
133 The segment_OPT3 Software operation (1) Turn the power OFF then back ON.
table.
151 The averaging time is Software operation (1) Turn the power OFF then back ON.
not an even number. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(times) NANCE mode, and then contact your YASKAWA representative
200 The notch filter Software operation (1) Turn the power OFF then back ON.
doesn't become ef- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fective after shifting to NANCE mode, and then contact your YASKAWA representative
PLAY mode. about occurrence status (operating procedure).
303 The difference be- Software operation (1) Turn the power OFF then back ON.
tween the base error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
torque and the target NANCE mode, and then contact your YASKAWA representative
torque exceeded the about occurrence status (operating procedure).
threshold in the jig ro-
bot bending correc-
tion.
500 Inconsistency of FP EAXA21 board failure (1) Turn the power OFF then back ON.
register. (2) If the alarm occurs again, replace the EAXA21 board.
No. Code
700 Data inconsistent sta- Software operation (1) Turn the power OFF then back ON.
tus occurred at the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
start of measurement NANCE mode, and then contact your YASKAWA representative
in the Pendant Oscil- about occurrence status (operating procedure).
loscope Function.
701 Data inconsistent sta- Software operation (1) Turn the power OFF then back ON.
tus occurred during error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the measurement in NANCE mode, and then contact your YASKAWA representative
the Pendant Oscillo- about occurrence status (operating procedure).
scope Function.
1000 The check item num- Software operation (1) Turn the power OFF then back ON.
ber of SVD parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
is unmatched. NANCE mode, and then contact your YASKAWA representative
ber of SV parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ber of SVM parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ber of SVP parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 339
2 - 340
Alarm list
No. Code
ber of AMC parame- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ter is unmatched. NANCE mode, and then contact your YASKAWA representative
ber of MFG parame- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ter is unmatched. NANCE mode, and then contact your YASKAWA representative
ber of MFA parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ber of SVC parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1100 The stopping dis- Software operation (1) Turn the power OFF then back ON.
tance reduction func- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion for emergency NANCE mode, and then contact your YASKAWA representative
stop can't be used si- about occurrence status (operating procedure).
multaneously with the
notch filter function.
2100 The motioning soft- Software operation (1) Turn the power OFF then back ON.
ware is not used with error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
circuit board as tar- NANCE mode, and then contact your YASKAWA representative
get. about occurrence status (operating procedure).
No. Code
2500 The JL077 in which Connection failure (1) Turn the power OFF then back ON.
the each fault signal is (2) If the alarm occurs again, check the connection and insertion
recognized but no no- of the following cables and connectors.
tification is sent from
the converter. ∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙Converter-CN551,553
∙EX1SV(External axis SERVO pack)-CN591,592
(3) If the alarm repeatedly occurs, check if all the cables above
are correctly connected.
3000 The parameter num- Software operation (1) Turn the power OFF then back ON.
ber of the universal error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
SERVOPACK is not NANCE mode, and then contact your YASKAWA representative
valid. about occurrence status (operating procedure).
4001 Execution of motion Software operation (1) Turn the power OFF then back ON.
command did not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
complete within a cer- NANCE mode, and then contact your YASKAWA representative
tain time period. about occurrence status (operating procedure).
tain time period.
Alarm list
2
- 341
2 - 342
Alarm list
No. Code
No. Code
Alarm list
2
- 343
2 - 344
Alarm list
No. Code
No. Code
Alarm list
2
- 345
2 - 346
Alarm list
No. Code
No. Code
Alarm list
2
- 347
2 - 348
Alarm list
No. Code
No. Code
Alarm list
2
- 349
2 - 350
Alarm list
No. Code
No. Code
Alarm list
2
- 351
2 - 352
Alarm list
No. Code
No. Code
tain time period.
Alarm list
2
- 353
2 - 354
Alarm list
No. Code
No. Code
Alarm list
2
- 355
2 - 356
Alarm list
No. Code
No. Code
complete within a cer-
Alarm list
2
- 357
2 - 358
Alarm list
No. Code
No. Code
Alarm list
2
- 359
2 - 360
Alarm list
No. Code
No. Code
Alarm list
2
- 361
2 - 362
Alarm list
No. Code
No. Code
Alarm list
2
- 363
2 - 364
Alarm list
No. Code
6000 The value set for Setting error The value set for A1P36 exceeds the permissible value.
A1P36 exceeds the
permissible value.
7101 The override ratio is Software operation (1) Turn the power OFF then back ON.
invalid. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
7201 Interpolation cycle is Software operation (1) Turn the power OFF then back ON.
shorter than the set error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
value. NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 365
2 - 366
Alarm list
No. Code
No. Code
7401 Buffer-related area for Software operation (1) Turn the power OFF then back ON.
category 1 has not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
completed initializa- NANCE mode, and then contact your YASKAWA representative
tion. about occurrence status (operating procedure).
Alarm list
2
- 367
2 - 368
Alarm list
No. Code
7500 Direct-in number set- Setting error Three or more direct-in numbers are set for NSRCH instruction.
ting error (NSRCH) Check the direct-in number setting.

7600 The setting value for Setting error The value set for Touch press (proportion to the 1st pressure) in
touch pressure is not the gun detail setting file is over 100%. Change the setting value
appropriate. to less than 100%.
8300 The setting value for Software operation (1) Turn the power OFF then back ON.
motor is not appropri- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ate. NANCE mode, and then contact your YASKAWA representative
1109 SYSTEM ER- Software operation (1) Turn the power OFF then back ON.
ROR(CONVEYOR) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
1200 HIGH TEMPERA- The temperature ris- If the LED (OHT) on the YPS21 unit lights up, wait until the in-
TURE(IN CNTL es in the controller side of the controller has got cool and then turn the power OFF
BOX) then back ON.
(2) If the alarm occurs again, check the connection of the follow-
ing cable.
∙CN159 power supply cable of the cooling fan in the YPS21 unit
(2) If the alarm occurs again, replace the following unit.
∙YPS21 unit
1204 COMMUNICATION The communication Connection failure Check the insertion and connection of the followings.
ERROR(I/O MOD- error slot (Serial-bus- ∙The M II communications cable which I/O module of the corre-
ULE) connected I/O mod- sponding sub code
ule communication
station No.) is dis- ∙(In case of MII communications last station) Terminator
played by the bit. ∙24V power of the corresponding I/O module
0: correct / 1: incor-
rect
IO module failure Replace the I/O module of the corresponding station number.
Power supply broken Replace the 24V power supply supplied to the I/O module of the
corresponding station number.
YIF01 board broken Save the CMOS.BIN file.
Replace the YIF01 board, and then load the saved CMOS.BIN
file.
Alarm list
2
- 369
2 - 370
Alarm list
No. Code
1220 LAN COMMUNICA- 1 Incorrect setting of Setting error (1) Check the following settings.
TION PARAMETER the IP address which ∙IP address setting of network in MAINTENANCE mode
ERROR is used in the Ether-
net function.
2 Incorrect setting of Setting error (1) Check the following settings.
the subnet mask ∙Subnet mask of network in MAINTENANCE mode
which is used in the
Ethernet function.
the default gateway ∙Default gateway of network in MAINTENANCE mode
Ethernet function.
the host address ∙Server (host) of network in MAINTENANCE mode
Ethernet function.
No. Code
the parameter which ∙SNTP setting of network in MAINTENANCE mode
is used for the SNTP
of the Ethernet func-
tion.
the IP address of the ∙SNTP setting of network in MAINTENANCE mode
SNTP server which is
used in the Ethernet
function of the SNTP.
the IP address of the ∙SNTP setting of network in MAINTENANCE mode
SNTP server which is
function of the SNTP.
the DHCP parameter ∙SNTP setting of network in MAINTENANCE mode
Ethernet function of
the SNTP.
Alarm list
2
- 371

2 - 372
Alarm list
No. Code
the host name which ∙Host name of network in MAINTENANCE mode
is used in the Ether-
net function.
the IP address of the ∙DNS setting of network in MAINTENANCE mode
DNS server which is
function of the DNS.
the DHCP parameter ∙DNS setting of network in MAINTENANCE mode
the DNS.
the DHCP parameter ∙DNS setting of network in MAINTENANCE mode
the DNS.
No. Code
the domain which is ∙Domain name of network in MAINTENANCE mode
function.
1221 ETHERNET INITIAL 1 An error occurred in Software operation (1) Turn the power OFF then back ON.
PROCESS ERROR the device initializa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion process of the NANCE mode, and then contact your YASKAWA representative
Ethernet function. about occurrence status (operating procedure).
2 An error occurred in Setting error (1) Check the following settings.
the IP address setting ∙IP address setting of network in MAINTENANCE mode"
process of the Ether-
net function.
Alarm list
2

- 373
2 - 374
Alarm list
No. Code
the subnet mask set- ∙Subnet mask of network in MAINTENANCE mode
ting process of the
Ethernet function.
the default gateway ∙Default gateway of network in MAINTENANCE mode
setting process of the
Ethernet function.
the host name setting ∙Server (host) of network in MAINTENANCE mode
net function.
No. Code
the MAC address get- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ting process of the NANCE mode, and then contact your YASKAWA representative
12 IP address duplica- Setting error (1) Check the following settings.
tion was detected. ·IP address setting of network in MAINTENANCE mode
·IP addresses of other devices in the network.
Alarm list
2
- 375
2 - 376
Alarm list
No. Code
YCP21 board failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
again, replace the YCP21 board.
13 IP address duplica- Setting error (1) Check the following settings.
tion was detected. ·IP address setting of network in maintenance mode
YCP21 board failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
again, replace the YCP21 board.
the Web server task error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
creating process of NANCE mode, and then contact your YASKAWA representative
the Ethernet function. about occurrence status (operating procedure).
No. Code
the FTP server task error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the FTP client task error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the semaphore gen- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
eration process for NANCE mode, and then contact your YASKAWA representative
access exclusion of about occurrence status (operating procedure).
the Ethernet function.
Alarm list
2
- 377
2 - 378
Alarm list
No. Code
management ID get- NANCE mode, and then contact your YASKAWA representative
ting process of the about occurrence status (operating procedure).
Ethernet function.
management ID get- NANCE mode, and then contact your YASKAWA representative
ting process of the about occurrence status (operating procedure).
Ethernet function.
the DHCP acquisition error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
item setting process NANCE mode, and then contact your YASKAWA representative
of the Ethernet func- about occurrence status (operating procedure).
tion.
No. Code
the DHCP initializa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion process of the NANCE mode, and then contact your YASKAWA representative
the DHCP interface of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the Ethernet function. NANCE mode, and then contact your YASKAWA representative
62 The data acquisition Setting error (1) Check the following settings.
process from the ∙The DHCP server operation
server did not com-
plete within regulated ∙The network status
time.
Alarm list
2
- 379
2 - 380
Alarm list
No. Code
63 The data acquired Setting error (1) Check the following settings.
from the server were ∙The DHCP server operation
found illegal in the
DHCP of the Ethernet ∙The network status
function.
the subnet mask ac- ∙The DHCP server operation
quisition process in
the DHCP of the ∙The network status
Ethernet function.
No. Code
the DNS server ad- ∙The DHCP server operation
dress acquisition pro-
cess in the DHCP of ∙The network status
the Ethernet function ∙The DHCP server operation
DNS domain getting
process in the DHCP ∙The network status
tion.
Alarm list
2
- 381
2 - 382
Alarm list
No. Code
the SNTP server ad- ∙The DHCP server operation
dress acquisition pro-
cess in the DHCP of ∙The network status
the IP address acqui- ∙The DHCP server operation
sition process in the
DHCP of the Ethernet ∙The network status
function.
the DHCP interface ∙The DHCP server operation
structure object map-
ping process of the ∙The network status
Ethernet function.
No. Code
the DNS resolver ini- ∙The domain name
tialization process of
the Ethernet function. ∙The DNS related settings
∙The DHCP server operation
∙The network status
the DNS resolver set- ∙The domain name
ting of the Ethernet
function. ∙The DNS related settings
Alarm list
2
- 383
2 - 384
Alarm list
No. Code
72 The parameter set- Setting error (1) Check the following settings.
ting error occurred in ∙The domain name
the DNS resolver set-
ting of the Ethernet ∙The DNS related settings
function. ∙The DHCP server operation
73 The mode error oc- Setting error (1) Check the following settings.
curred in the DNS re- ∙The domain name
solver setting of the
Ethernet function. ∙The DNS related settings
No. Code
the basic library ini- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tialization process of NANCE mode, and then contact your YASKAWA representative
the initialization pro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cess other than basic NANCE mode, and then contact your YASKAWA representative
library of the Ethernet about occurrence status (operating procedure).
function.
Alarm list
2
- 385
2 - 386
Alarm list
No. Code
the IP address acqui- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
sition process in the NANCE mode, and then contact your YASKAWA representative
DHCP of the Ethernet about occurrence status (operating procedure).
function.
the start process of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the Ethernet function NANCE mode, and then contact your YASKAWA representative
Telnet (for onboard). about occurrence status (operating procedure).
the start process of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the Ethernet function NANCE mode, and then contact your YASKAWA representative
Telnet (for expand). about occurrence status (operating procedure).
No. Code
1222 IP ADDRESS SET IP address could not Setting error (1) Check the following settings.
FAIL(DHCP) be obtained at DHCP. ∙The DHCP server operation
1240 SAFETY FIELDBUS 1 Machine Safety Data error (1) Turn the power OFF then back ON.
SETTING ERROR doesn't correctly read (2) If the alarm occurs again, save the following parameter file in
the value of the pro- online mode. Initialize the following parameter file in MAINTEN-
cessing start wait ACE mode, and then load the parameter file saved in the exter-
time. nal memory device.
∙SD.PRM
failure YCP21 board to insert it into the new YCP21
Alarm list
2
- 387
2 - 388
Alarm list
No. Code
1241 SAFETY FIELDBUS 1 The error was detect- YSF21 board failure (1) Turn the power OFF then back ON.
SYSTEM ERROR ed by the PROFIsafe (2) If the alarm occurs again, replace the YSF21 board.
stack.
2 The error was detect- YSF21 board failure (1) Turn the power OFF then back ON.
ed by the CIP Safety (2) If the alarm occurs again, replace the YSF21 board.
stack (CH1). SUB-
Code shows the error
part of software.
stack (CH2). SUB-
part of software.
10 Processing of safety YSF21 board failure (1) Turn the power OFF then back ON.
field bus was not (2) If the alarm occurs again, replace the YSF21 board.
completed to the de-
fault time.
No. Code
ed with the status (2) If the alarm occurs again, replace the YSF21 board.
check of safety field
bus communication.
12 Invalid processing YSF21 board failure (1) Turn the power OFF then back ON.
was detected by the (2) If the alarm occurs again, replace the YSF21 board.
safety field bus.
was detected by the (2) If the alarm occurs again, replace the YSF21 board.
safety field bus.
15 Virtual communica- Software operation Set the following item in MAINTENANCE mode.
tion mode was error occurred ·In the case of PROFIsafe, please set the virtual communication
switched to virtual to „safety“ in the CP1616 board setting screen.
from safety during the
communication of ·In the case of EtherNet/IP Safety, please set the virtual commu-
safety field bus. nication to „safety“ in the EtherNet/IP(CPU board) setting
screen.
·In the case of DeviceNet Safety, please set the virtual commu-
nication to „safety“ in the DN4 board setting screen.
Alarm list
2
- 389
2 - 390
Alarm list
No. Code
ed with the communi- (2) If the alarm occurs again, replace the YSF21 board.
cation status check
processing of safety
fieldbus (PROFIsafe).
ed with the communi- (2) If the alarm occurs again, replace the YSF21 board.
cation status check
status was detected (2) If the alarm occurs again, replace the YSF21 board.
by the safety fieldbus
(PROFIsafe).
No. Code
ed with the initializing (2) If the alarm occurs again, replace the YSF21 board.
status was detected (2) If the alarm occurs again, replace the YSF21 board.
by the safety fieldbus
(PROFIsafe).
ed with the (2) If the alarm occurs again, replace the YSF21 board.
F_Dest_Add acquisi-
tion processing of
safety field
bus(PROFIsafe).
ed with the F Parame- (2) If the alarm occurs again, replace the YSF21 board.
ter check processing
of safety fieldbus
(PROFIsafe).
Alarm list
2
- 391
2 - 392
Alarm list
No. Code
ed with the Config (2) If the alarm occurs again, replace the YSF21 board.
ed with the cyclic exe- (2) If the alarm occurs again, replace the YSF21 board.
cution processing of
safety fieldbus
(PROFIsafe).
ed with the Output (2) If the alarm occurs again, replace the YSF21 board.
data reception pro-
cessing of safety
ed with the Output (2) If the alarm occurs again, replace the YSF21 board.
data acquisition pro-
cessing of safety
No. Code
ed with the Input data (2) If the alarm occurs again, replace the YSF21 board.
setting processing of
safety fieldbus
(PROFIsafe).
ed with the Input data (2) If the alarm occurs again, replace the YSF21 board.
setting processing of
safety fieldbus
(PROFIsafe).
ed with the cyclic stop (2) If the alarm occurs again, replace the YSF21 board.
2xxxx The error was detect- YSF21 board failure (1) Turn the power OFF then back ON.
stack (CH1). SUB
part of software.
Alarm list
2
- 393
2 - 394
Alarm list
No. Code
3xxxx The error was detect- YSF21 board failure (1) Turn the power OFF then back ON.
stack (CH2). SUB-
part of software.
1245 AIR PRESS ER- 0 Air pressure unit 1 er- Air pressure failure (1) Cycle the power.
ROR(LOW)1 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
in the detection signal pressure unit is within the setting range.
of the air pressure
(low pressure detec-
tion).
Connection failure (1) Cycle the power.
(2) If the alarm occurs again, check if there is no cable failure
(broken line) between the pressure unit and the barrier unit in
the controller.
(3) Check the connection/insertion status of the following con-
nector and also check if there is no failure in the cable (such as
broken line) connected to the following connector.
·YIS21 board-CN661
Pressure detector (1) Cycle the power.
failure (2) If the alarm occurs again, check if the pressure detector (low
pressure detection) is turned ON when the air is applied and it
is turned OFF when no air is applied.
(3) If the pressure detector doesn't work like (2), replace the
pressure unit.
No. Code
Barrier unit for pres- (1) Cycle the power.
sure detection failure (2) If the alarm occurs again, check if the output signal of the
barrier for pressure detection becomes ON and OFF in accor-
dance with ON/OFF status of the pressure detector (low pres-
sure detection).
(3) If the barrier unit doesn't work like(2), confirm that there is no
cable failure (broken line) in the cable connected to the barrier
unit, and then replace the barrier unit.
YIS21 board failure (1) Cycle the power.
(2) If the alarm occurs again, replace the YIS21 board.
Be sure to configure the
1 Air pressure unit 2 er- Air pressure failure (1) Cycle the power.
ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure
tion).
the controller.
·YIS21 board-CN661
Alarm list
2
- 395
2 - 396
Alarm list
No. Code
pressure unit.
sure detection).
(3) If the barrier unit doesn't work like(2), confirm that there is no
cable failure (broken line) in the cable connected to the barrier
unit, and then replace the barrier unit.
Be sure to configure the
ROR (HIGH)1 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure
(high pressure detec-
tion).
No. Code
the controller.
·YIS21 board-CN661
failure (2) If the alarm occurs again, check if the pressure detector (high
pressure unit.
dance with ON/OFF status of the pressure detector (high pres-
sure detection).
(3) If the barrier unit doesn't work like (2), confirm that there is
no cable failure (broken line) in the cable connected to the bar-
rier unit, and then replace the barrier unit.
Be sure to configure the switch setting (timer setting) at YIS21
board same as before replacement.
Alarm list
2
- 397
2 - 398
Alarm list
No. Code
of the air pressure
tion).
the controller.
·YIS21 board-CN661
pressure unit.
sure detection).
No. Code
1247 AIR PURGE ER- 0 Air pressure unit 1 er- Air pressure failure (1) Cycle the power.
ROR1 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure (air
purge detection).
(broken line, short circuit) between the pressure unit and the
barrier unit in the controller.
nector and also check if there is no failure (such as broken line)
in the cable connected to the following connector.
·YIS21 board-CN661
failure (2) If the alarm occurs again, check if the pressure detector (air
purge pressure detection) becomes ON when the air purge
pressure is applied and it becomes OFF when no air purge pres-
sure is applied.
pressure unit.
Control pressure (1) Cycle the power.
valve failure (2) If the alarm occurs again, check if control pressure valve be-
comes ON when the power is turned ON.
(3) If the control pressure valve doesn't become ON, confirm
Alarm list
that there is no failure (broken line, short circuit) in the cable
2
- 399
connected to valve, and then replace the pressure unit.

2 - 400
Alarm list
No. Code
dance with ON/OFF status of the pressure detector (air purge
pressure detection).
(3) If the barrier for pressure detection doesn't work like (2), con-
firm that there is no cable failure (broken line)
Barrier for control (1) Cycle the power.
pressure valve failure (2) If the alarm occurs again, confirm that the barrier for control
pressure valve becomes ON when the power is turned ON.
(3) If the barrier doesn't become ON, confirm that there is no fail-
ure in the cable connected to the barrier, and then replace the
barrier.
Fuse failure (1) Cycle the power.
(2) If the alarm occurs again, check if the fuse in YIS21
board(FU3, FU4, FU5, FU6) is not broken.
(3) If the fuse is broken, confirm that there is no cable failure
(such as short circuit, ground fault) in the cable connected to
YIS21 board, and then replace the fuse.
(2) If the alarm occurs again, replace the YIS21 board.Be sure
to configure the switch setting (timer setting) at YIS21 board
same as before replacement.
1 Air pressure unit 2er- Air pressure failure (1) Cycle the power.
purge detection).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
(3) If the control pressure valve doesn't become ON, confirm
that there is no failure (broken line, short circuit) in the cable
connected to valve, and then replace the pressure unit.
dance with ON/OFF status of the pressure detector (air purge
pressure detection).
(3) If the barrier for pressure detection doesn't work like (2), con-
firm that there is no cable failure (broken line)
Alarm list
2
- 401
2 - 402
Alarm list
No. Code
barrier.
1248 IOSPDCTRL SET Nine or more IOSP- Setting error Modify the setting number of IOSPDCTRL to less than 9 in the
ERROR DCTRL are set. SUB- MAINTENANCE mode.
Code: The setting If the alarm occurs again, save the CMOS.BIN in MAINTE-
number of IOSPDC- NANCE mode, and then contact your YASKAWA representa-
TRL tive.
ROR (LOW)2 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure
tion).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
barrier.
Alarm list
of the air pressure
2

- 403
tion).
2 - 404
Alarm list
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
(3) If the barrier for pressure detection doesn't work like(2), con-
firm that there is no cable failure (broken line) in the cable con-
nected to the barrier unit, and then replace the barrier unit.
No. Code
ROR(HIGH)2 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure
(high pressuredetec-
tion).
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
Alarm list
2
- 405
2 - 406
Alarm list
No. Code
of the air pressure
tion).
·YIS21 board-CN661
sure is applied.
pressure unit.
No. Code
sure detection).
1251 AIR PURGE Er- 0 Air pressure unit 3 er- Air pressure failure (1) Cycle the power.
purge detection).
·YIS21 board-CN661
Alarm list
2
- 407
2 - 408
Alarm list
No. Code
sure is applied.
pressure unit.
(3) If the control pressure valve doesn't work like(2), confirm that
there is no failure (broken line, short circuit) in the cable con-
nected to valve, and then replace the pressure unit.
sure detection).
barrier.
No. Code
board(FU3,FU4,FU5,FU6) is not broken.
purge detection).
·YIS21 board-CN661
sure is applied.
Alarm list
2
pressure unit.
- 409
2 - 410
Alarm list
No. Code
sure detection).
barrier.
No. Code
ROR(LOW)3 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure
tion).
·YIS21 board-CN661
(3) If the pressure detector doesn't work like(2), replace the
pressure unit.
sure detection).
Alarm list
2
- 411
2 - 412
Alarm list
No. Code
of the air pressure
tion).
·YIS21 board-CN661
(3) If the pressure detector doesn't work like(2), replace the
pressure unit.
No. Code
sure detection).
of the air pressure
tion).
·YIS21 board-CN661
Alarm list
2
- 413
2 - 414
Alarm list
No. Code
sure is applied.
pressure unit.
sure detection).
of the air pressure
tion).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
Alarm list
2
- 415
2 - 416
Alarm list
No. Code
1254 AIR PURGE Er- 0 Air pressure unit 5 er- Air pressure failure (1) Cycle the power.
purge detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
No. Code
sure detection).
barrier.
purge detection).
Alarm list
2
- 417
2 - 418
Alarm list
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
No. Code
barrier.
of the air pressure
tion).
Alarm list
2
·YIS21 board-CN661
- 419
2 - 420
Alarm list
No. Code
sure is applied.
pressure unit.
sure detection).
of the air pressure
tion).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
Alarm list
2
- 421
2 - 422
Alarm list
No. Code
of the air pressure
tion).
the controller.
·YIS21 board-CN661
pressure unit.
sure detection).
No. Code
of the air pressure
tion).
the controller.
·YIS21 board-CN661
pressure unit.
Alarm list
2
- 423
2 - 424
Alarm list
No. Code
sure detection).
purge detection).
·YIS21 board-CN661
No. Code
sure is applied.
pressure unit.
sure detection).
barrier.
Alarm list
2
- 425
2 - 426
Alarm list
No. Code
purge detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
No. Code
sure detection).
barrier.
Alarm list
2
- 427

2 - 428
Alarm list
No. Code
ROR (LOW)5 ror. An error occurred (2) If the alarm occurs again, check if the pressure display at the
of the air pressure
tion).
·YIS21 board-CN661
sure is applied.
pressure unit.
barrier.
No. Code
1 Air pressure unit 10 Air pressure failure (1) Cycle the power.
error. An error oc- (2) If the alarm occurs again, check if the pressure display at the
curred in the detec- pressure unit is within the setting range.
tion signal of the air
pressure (low pres-
sure detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
Alarm list
2
- 429
2 - 430
Alarm list
No. Code
of the air pressure
tion).
the controller.
·YIS21 board-CN661
pressure unit.
No. Code
sure detection).
pressure (high pres-
sure detection).
the controller.
·YIS21 board-CN661
Alarm list
2
- 431
2 - 432
Alarm list
No. Code
pressure unit.
sure detection).
purge detection).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
Alarm list
2
- 433
2 - 434
Alarm list
No. Code
barrier.
pressure (air purge
detection).
·YIS21 board-CN661
No. Code
sure is applied.
pressure unit.
sure detection).
barrier.
Alarm list
2
- 435
2 - 436
Alarm list
No. Code
1261 AIR PRESS ER- 0 Air pressure unit 11 Air pressure failure (1) Cycle the power.
ROR (LOW)6 error. An error oc- (2) If the alarm occurs again, check if the pressure display at the
pressure (low pres-
sure detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
No. Code
barrier.
pressure (low pres-
sure detection).
·YIS21 board-CN661
sure is applied.
Alarm list
2
- 437
pressure unit.
2 - 438
Alarm list
No. Code
sure detection).
ROR (HIGH)6 error. An error oc- (2) If the alarm occurs again, check if the pressure display at the
sure detection).
the controller.
·YIS21 board-CN661
No. Code
pressure unit.
sure detection).
sure detection).
Alarm list
2
- 439
2 - 440
Alarm list
No. Code
the controller.
·YIS21 board-CN661
pressure unit.
sure detection).
No. Code
1263 AIR PURGE ER- 0 Air pressure unit 11 Air pressure failure (1) Cycle the power.
ROR6 error. An error oc- (2) If the alarm occurs again, check if the pressure display at the
pressure (air purge
detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
Alarm list
2
- 441
2 - 442
Alarm list
No. Code
sure detection).
barrier.
pressure (air purge
detection).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
Alarm list
2
- 443
2 - 444
Alarm list
No. Code
barrier.
pressure (low pres-
sure detection).
·YIS21 board-CN661
No. Code
sure is applied.
pressure unit.
barrier.
pressure (low pres-
sure detection).
Alarm list
2

- 445
·YIS21 board-CN661
2 - 446
Alarm list
No. Code
sure is applied.
pressure unit.
sure detection).
sure detection).
No. Code
the controller.
·YIS21 board-CN661
pressure unit.
sure detection).
Alarm list
2
- 447
2 - 448
Alarm list
No. Code
sure detection).
the controller.
·YIS21 board-CN661
pressure unit.
sure detection).
No. Code
pressure (air purge
detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
Alarm list
2
- 449
2 - 450
Alarm list
No. Code
sure detection).
barrier.
No. Code
pressure (air purge
detection).
·YIS21 board-CN661
sure is applied.
pressure unit.
Alarm list
2
- 451
2 - 452
Alarm list
No. Code
sure detection).
barrier.
pressure (low pres-
sure detection).
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
barrier.
Alarm list
2
pressure (low pres-

- 453
sure detection).
2 - 454
Alarm list
No. Code
·YIS21 board-CN661
sure is applied.
pressure unit.
sure detection).
No. Code
sure detection).
the controller.
·YIS21 board-CN661
pressure unit.
sure detection).
Alarm list
2
- 455
2 - 456
Alarm list
No. Code
sure detection).
the controller.
·YIS21 board-CN661
pressure unit.
No. Code
sure detection).
pressure (air purge
detection).
·YIS21 board-CN661
Alarm list
2
- 457
2 - 458
Alarm list
No. Code
sure is applied.
pressure unit.
sure detection).
barrier.
No. Code
pressure (air purge
detection).
·YIS21 board-CN661
sure is applied.
Alarm list
2
- 459
pressure unit.
2 - 460
Alarm list
No. Code
sure detection).
barrier.
No. Code
1270 AIR PURGE CIR- 0 No air purge comple- Connection failure (1) Cycle the power.
CUIT ERROR tion signal was input (2) If the alarm occurs again, check the connection/insertion sta-
within a certain period tus of the following connector and also check if there is no failure
of time after started in the cable (such as broken line) connected to the following
up. connector.
·YIS21 board-CN660,662
·YIO board-CN306
·YIO board-CN307(for the slave manipulator of the coordinate
system)
(3) Check if there is no failure (such as short circuit, ground fault)
in the cable connected to YIS21 board.
AC power failure (1) Cycle the power.
(2) If the alarm occurs again, check if the circuit breaker in the
painting module is not turned OFF or not tripped.
(3) If the circuit breaker is turned OFF or tripped, confirm that
there is no cable failure (such as broken line, short circuit,
ground fault) in the cable connected to the circuit breaker, and
then turn the circuit breaker power ON.
DC power failure (1) Cycle the power.
(2) If the alarm occurs again, check if the DC24V is supplied to
the YIS21-CN660.
(3) If DC24V is not supplied, check that there is no cable failure
YIS21 board, and then replace the DC power connected to
YIS21-CN660.
Alarm list
2
- 461
2 - 462
Alarm list
No. Code
board(FU1, FU2) is not broken.
1 Air purge completion Connection failure (1) Cycle the power.
signal input became (2) If the alarm occurs again, check the connection/insertion sta-
OFF after air purge tus of the following connector and also check if there is no failure
was completed. in the cable (such as broken line) connected to the following
connector.
·YIS21 board-CN660,662
·YIO board-CN306
·YIO board-CN307(for the slave manipulator of the coordinate
system)
(3) Check if there is no failure (such as short circuit, ground fault)
in the cable connected to YIS21 board.
AC power failure (1) Cycle the power.
(2) If the alarm 1270 AIR PURGE CIRCUIT ERROR [0] occurs,
check if the circuit breaker in the painting module is not turned
OFF or not tripped.
(3) If the circuit breaker is turned OFF or tripped, confirm that
there is no cable failure such as broken line or short circuit or
ground fault in the cable connected to the circuit breaker, and
then turn the circuit breaker power ON.
No. Code
DC power failure (1) Cycle the power.
check if the DC24V is supplied to the YIS21-CN660.
(3) If DC24V is not supplied, check that there is no cable failure
YIS21 board, and then replace the DC power connected to
YIS21-CN660.
check if the fuse in YIS21 board(FU1, FU2) is not broken.
1300 SERVO CPU SYN- Connection failure (1) Turn the power OFF then back ON.
CHRONIZING ER- (2) If the alarm occurs again, check the connection and insertion
ROR of the following cables and connectors.
∙EAXA21-CN515
∙YIF01-CN113
Alarm list
2
- 463
2 - 464
Alarm list
No. Code
1301 COMMUNICATION 0 Communication sta- Connection failure (1) Turn the power OFF then back ON.
ERROR(SERVO) tus error (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
(2) If the alarm occurs again, check the LED of the YPS21 unit:
If any of the following red LED indications; +5V or +24V, FAN,
OHT has lighten up, replace the YPS21 unit.
1 Watchdog timer error Connection failure (1) Turn the power OFF then back ON.
∙EAXA21-CN515
∙YIF01-CN113
No. Code
2 JL0101 alarm Connection failure (1) Turn the power OFF then back ON.
∙EAXA21-CN515
∙YIF01-CN113
Alarm list
2
- 465
2 - 466
Alarm list
No. Code
3 Communication sta- Connection failure (1) Turn the power OFF then back ON.
tus error (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
4 Data consistency er- Connection failure (1) Turn the power OFF then back ON.
ror (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
No. Code
1303 ARITHMETIC ER- The data [X____] indi- Tool file setting error (1) Check the following settings.
ROR(SERVO) cates the generation Reexamine the tool file setting.
process.
(Check the units of mass and center of gravity, positive/negative
10000: Observer con- signs.)
trol
20000: High-preci-
sion path control
30000: Dynamics
40000: Disturbance
observer control
The data [_YYY_] in-
dicates the alarm con-
tents.
Alarm list
The data [____Z] indi-
2
cates the physical

- 467
axis number.
2 - 468
Alarm list
No. Code
Motor load error (1) Check the followings.
Overload is applied to the robot. Correct the tools, the work piec-
es, and the drive condition.
1304 EX-AXIS BOARD Setting error (1) Check the following settings.
NOT INSTALLED Check the parameter setting of external axis selection.
∙EAXA21-CNAX-EAXB21
EAXB board failure (1) Turn the power OFF then back ON.
No. Code
1306 AMPLIFIER TYPE Sub Code: Signifies Setting error (1) Check the following settings.
MISMATCH the axis in which the ∙Check the current capacity of the amplifier before/after replace-
alarm occurred ment by the model described in board.
∙When the external axis is mounted, check if there is no differ-
ence between the amplifier selected at configuration and the
amplifier that is actually mounted.
Reference parameter: after SVPxG232
∙EAXA21-CN501to 506
∙EAXB21-CN531,532,533
∙Amplifier-CN581
∙EX1SV(Extrnal axis SERVO pack)-CN591,595
∙SGDM (Large Capacity)-CN1
Module failure (ampli- (1) Turn the power OFF then back ON.
fier) (2) If the alarm occurs again, replace the amplifier.
1307 ENCODER TYPE Sub Code: Signifies Setting error (1) Check the following settings.
MISMATCH the axis in which the ∙Check the motor type before and after the replacement.
alarm occurred
Alarm list
ence between the motor selected at configuration and the motor
2
that is actually mounted.

- 469
2 - 470
Alarm list
No. Code
∙EAXA21-CN508
∙EAXB21-CN534,535,536
Module failure (en- (1) Turn the power OFF then back ON.
coder) (2) If the alarm occurs again, replace the encoder.
1308 CONVERTER Sub Code: Signifies Setting error (1) Check the following settings.
TYPE MISMATCH the converter in which ∙Check the current capacity of the amplifier before/after replace-
the alarm occurred ment by the model described in board.
ence between the converter selected at configuration and the
converter that is actually mounted.
Reference parameter: after SVCxB040
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
Module failure (con- (1) Turn the power OFF then back ON.
verter) (2) If the alarm occurs again, replace the converter.
about occurrence status (operating procedure)..
1309 HARDWARE ER- Module failure (con- (1) Turn the power OFF then back ON.
ROR verter) (2) If the alarm occurs again, replace the converter.
(CONVERTER)
1310 CHARGE ERROR Module failure (con- (1) Turn the power OFF then back ON.
(CONVERTER) verter) (2) If the alarm occurs again, replace the converter.
Primary power failure Check if the primary power supply voltage does not drop with a
tester, etc.
1311 A/D DETECTION Module failure (con- (1) Turn the power OFF then back ON.
ERROR verter) (2) If the alarm occurs again, replace the converter.
(CONVERTER)
Alarm list
2
- 471
2 - 472
Alarm list
No. Code
1312 ID ERROR SUB-Code: Signifies Module failure (con- (1) Turn the power OFF then back ON.
(CONVERTER) the converter in which verter) (2) If the alarm occurs again, replace the converter.
the alarm occurred
1313 COMMAND ER- Software operation (1) Turn the power OFF then back ON.
ROR(SERVO) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1314 VERIFY ERROR Software operation (1) Turn the power OFF then back ON.
(PARAMETER) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(SERVO) NANCE mode, and then contact your YASKAWA representative
1316 COMMUNICATION Connection failure (1) Turn the power OFF then back ON.
WDT ERROR(SER- (2) If the alarm occurs again, check the connection and insertion
VO) of the following cables and connectors.
∙EAXA21-CN515
∙YIF01-CN113
No. Code
1317 COMMAND TIME- Sub Code: Signifies Software operation (1) Turn the power OFF then back ON.
OUT(SERVO) the axis in which the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
alarm occurred NANCE mode, and then contact your YASKAWA representative
1318 CANNOT EXE- Sub Code: Signifies Software operation (1) Turn the power OFF then back ON.
CUTE COM- the axis in which the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
MAND(SERVO) alarm occurred NANCE mode, and then contact your YASKAWA representative
1319 SERIAL ENCODER Module failure (en- (1) Turn the power OFF then back ON.
MODULE ERROR coder) (2) If the alarm occurs again, replace the encoder.
1320 SERIAL ENCODER Module failure (en- (1) Turn the power OFF then back ON.
SENSOR ERROR coder) (2) If the alarm occurs again, replace the encoder.
1321 BRAKE BOARD Connection failure (1) Turn the power OFF then back ON.
ERROR (2) If the alarm occurs again, check the connection and insertion
∙YFC22-CN219(AXDIN, AXIN)
∙YSF22-CN219
(3)Check the connection of wiring around the brake circuit
Alarm list
board.
2
- 473
2 - 474
Alarm list
No. Code
NANCE mode, and then contact your YASKAW representative
1325 COMMUNICATION Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
ERROR(ENCOD- the axis in which the (2) If the alarm occurs again, check the connection and insertion
ER) alarm occurred of the following cables and connectors.
[Robot axis]
∙Cable between encoders
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
[Controller for painting use]
·YIS21-CN664,665
·YIS22-CNPGA,CNPGB,CNPGC,CNPG123,CNPG456,CN-
PG7,CN670,CN671,CN672,CN673,CN674
·YIS23-CNPGD,CNPG1,CNPG2,CNPG3,CN675,CN676
YIS22,YIS23 board [Controller for painting use]
failure (1) Cycle the power.
(2) If the alarm occurs again, replace the YIS22, YIS23 board.
No. Code
YIS21 board failure [Controller for painting use]
(1) Cycle the power.
1326 DEFECTIVE EN- Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
CODER ABSO- the axis in which the (2) If the alarm occurs again, check the connection and insertion
LUTE DATA alarm occurred of the following cables and connectors.
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
(2) If the alarm occurs again, replace the EAXA21 board and the
EAXB board.
Alarm list
2
- 475
2 - 476
Alarm list
No. Code
1327 ENCODER OVER Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
SPEED the axis in which the (2) Before turning the SERVO power OFF, change the manipu-
alarm occurred lator posture so that any axes won't drop when the SERVO pow-
er is turned ON.
(3) If the alarm occurs again in combination with encoder back-
up error, replace the battery of the appropriate axis.
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
Encoder failure Replace the defective motor (encoder).
YBK21 board failure (1) Check the following settings.
Check whether to find error in the brake slip and the brake con-
trol relay.
No. Code
1328 DEFECTIVE EN- Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
CODER the axis in which the (2) If the alarm occurs again, check the connection and insertion
alarm occurred of the following cables and connectors.
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
1329 DEFECTIVE SERI- Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
AL ENCODER the axis in which the (2) If the alarm occurs again, check the connection and insertion
COMMAND alarm occurred of the following cables and connectors.
[Robot axis]
∙EAXA21-CN508
[External axis]
Alarm list
∙EAXB21-CN0534,535,536
2
- 477
2 - 478
Alarm list
No. Code
1330 MICRO PROGRAM Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
TRANSMIT ERROR the axis in which the (2) If the alarm occurs again, replace the EAXA21 board.
alarm occurred
1331 CONVERTER Connection failure (1) Turn the power OFF then back ON.
CHARGE (2) If the alarm occurs again, check the connection and insertion
ERR(CONVERTER) of the following cables and connectors.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙Converter CN551,553
Primary power failure Check if the primary power supply voltage does not drop.
No. Code
1332 POSITION ERROR EAXA21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the EAXA21 board. Save
∙Check the position after the alarm.
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
Noise interference Check the following settings.
∙Check the grounding condition of Manipulator.
∙Install a ferrite core to the motor power line.
1333 POSITION ERROR EAXA21 board failure (1) Turn the power OFF then back ON.
(SERIAL ENCOD- (2) If the alarm occurs again, replace the EAXA21 board.
ER)
Alarm list
2
- 479
2 - 480
Alarm list
No. Code
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
Noise interference Check the following settings.
∙Check the grounding condition of robot.
∙Install a ferrite core to the motor power line.
1335 ENCODER NOT Sub Code: Signifies Battery failure Replace the battery.
RESET the axis in which the
alarm occurred
1339 OVER SPEED LIM- Setting error Check the JOB.
IT
No. Code
1341 SERVO OVERRUN Motion range error Check if the overrun limit switch is activated by the manipulator.
ERROR
Connection failure Check the overrun line.
1343 COMMUNICATION 101 Communication sta- Connection failure (1) Turn the power OFF then back ON.
ERROR tus error (The first dig- (2) If the alarm occurs again, check the connection and insertion
(CONVERTER) it shows the converter of the following cables and connectors.
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2
- 481
2 - 482
Alarm list
No. Code
102 Command timeout Connection failure (1) Turn the power OFF then back ON.
(The first digit shows (2) If the alarm occurs again, check the connection and insertion
the converter No.) of the following cables and connectors.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
103 Transmission buffer Connection failure (1) Turn the power OFF then back ON.
FULL (The first digit (2) If the alarm occurs again, check the connection and insertion
shows the converter of the following cables and connectors.
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
104 CRC-16 failure (The Connection failure (1) Turn the power OFF then back ON.
first digit shows the (2) If the alarm occurs again, check the connection and insertion
converter No.) of the following cables and connectors.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
105 Error code received Connection failure (1) Turn the power OFF then back ON.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
verter)
2
(2) If the alarm occurs again, replace the converter.

- 483
2 - 484
Alarm list
No. Code
106 Receive command Connection failure (1) Turn the power OFF then back ON.
error (The first digit (2) If the alarm occurs again, check the connection and insertion
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
tus error (The first dig- (2) If the alarm occurs again, check the connection and insertion
it shows the converter of the following cables and connectors.
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2
- 485
2 - 486
Alarm list
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
verter)
2

- 487
2 - 488
Alarm list
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2
- 489
2 - 490
Alarm list
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
verter)
2

- 491
2 - 492
Alarm list
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2
- 493
2 - 494
Alarm list
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
verter)
2

- 495
2 - 496
Alarm list
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2
- 497
2 - 498
Alarm list
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
verter)
2

- 499
2 - 500
Alarm list
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
No.)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2
- 501
2 - 502
Alarm list
No. Code
1345 SAFE CIRCUIT Sub Code: XYY (Sig- Connection failure Check if the unmatched two double-checked signals are in
SIGNAL NOT nifies the power-ON agreement.
SAME(SV) unit No. and un-
matched signal No.)
X: Power-ON unit0:
Power-ON unit1
(TU#1)
1: Power-ON unit2
(TU#2)
2: Power-ON unit3
(TU#3)
3: Power-ON unit4
(TU#4)
4: Power-ON unit5
(TU#5)
5: Power-ON unit6
(TU#6)
YY: Unmatched sig-
nal
01: KMMA signal un-
matched error
02: SVMAIN signal
unmatched error
03: SVMAIN1/2 sig-
nal unmatched error
04: IORDY signal un-
matched error
No. Code
1345 SAFE CIRCUIT 06: FUCUT signal un- Connection failure Check if the unmatched two double-checked signals are in
SIGNAL NOT matched error agreement.
SAME(SV) 07: SHOCK1 signal
unmatched error
08: EXOT signal un-
matched error
09: OT signal un-
matched error
10: TUSONER signal
unmatched error
11: SVCMPER signal
unmatched error
12: TCER signal un-
matched error
13: SON_OUT signal
unmatched error
14: BRRVER signal
unmatched error
60: Error due to un-
matched output sig-
nal for SERVO board
failure
matched signal for the
main contractor state
(closed contact)
matched signal for the
main contractor state
Alarm list
2
(open contact)
- 503
2 - 504
Alarm list
No. Code
1345 SAFE CIRCUIT 63: Error due to un- Connection failure Check if the unmatched two double-checked signals are in
SIGNAL NOT matched input signal agreement.
SAME(SV) for the main contrac-
tor control relay
matched input signal
for the OT recovery
matched input signal
for the external WDT
matched 1FB input
signal: the brake re-
lease control signal
E.g.)
SUB-Code: 208
EXOT signal of the
Power-ON unit2
(TU#2) is unmatched.
1349 POWER LOST DE- Instant power failure Check if the primary power supply voltage is dropping.
TECTION
(EAXA21/02)
No. Code
1352 SERIAL ENCODER Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
CORRECTION ER- the axis in which the (2) If the alarm occurs again, check the connection and insertion
ROR alarm occurred of the following cables and connectors.
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536

Alarm list
2
- 505
2 - 506
Alarm list
No. Code
1355 SERIAL ENC MUL- Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
TITURN LIMIT ERR the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536

1356 SPECIFIED AXIS Setting error Check the JOB setting.
ERROR
1357 PRESS ERROR Setting error Check the JOB setting.
1360 PA NOT IN- Connection failure Check the inserting and connection of pre-aligner.
STALLED
No. Code
1365 GROUND FAULT Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
the axis in which the (2) If the alarm occurs again, check the connection and inserting
alarm occurred. state of the following cables and connectors.
(If the alarm occurred EAXA21-CN507,510
at an axis which is Converter CN551,553,555
driven by a common EX1SV (External axis SERVO PACK)-CN592
converter, all the sub- YPU unit-CN604
ject axes are indicat-
ed.)
(2) If the alarm occurs again, replace the following cables.
Check the axis in which earth fault occurs in the alarm history
screen.
If both robot axes and external axes use the same type convert-
er, the earth fault may occur on the external axis not the robot
axis. (There is also a possibility that it is stained by water)
(1) External axis cables (Power wire)

(2) Traveling axis cable (Power wire)
(3) Power supply cable (Robot axis, external axis) (Power wire)
(4) Internal cables (Robot axis, external axis) (Power wire)
Module failure(Re- Check if there is no ground fault in the regeneration resistors.
generative resistor)
GND wiring failure (1) Turn the power OFF then back ON.
(2) If the alarm repeats, check the voltage of the primary power
and GND. If the voltage amount on each RST varies more than
100V, review the GND setting.
Module failure(motor) (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the motor.
Module failure(ampli- (1) Turn the power OFF then back ON.
Alarm list
2
- 507
2 - 508
Alarm list
No. Code
tactor) (2) If the alarm occurs again, replace the contactor.
Save the CMOS.BIN before replacing the board to be safe.
YPU unit failure (1) Turn the power OFF then back ON.
Save the CMOS.BIN before replacing the YPU unit to be safe.
1366 WDT ERROR Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
(CONVERTER) the physical No. of (2) If the alarm occurs again, check the connection and inserting
converter in which the state of the following cables and connectors.
alarm occurred EAXA21-CN507,510
EAXB21-CN531,532,533
Converter CN551,553
EX1SV (External axis SERVO PACK)-CN591,592
Module failure(con- (1) Turn the power OFF then back ON.
the CMOS.BIN before replacing the board to be safe.
No. Code
1367 OVERVOLTAGE Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
alarm occurred EAXA21-CN507,510
EAXB21-CN531,532,533
Converter CN551,553
Setting error Check the following settings.
The load mounted on the manipulator
Voltage failure Modify the primary breaker voltage to the specified voltage
200V(+10 15 ).
Module failure(Re- (1)Disconnect the converter CN557 to check if there is no cable
generative disconnection.
resistor) (2)If disconnected, replace the regenerative resistor.
1368 REGENERATIVE Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
TROUBLE the axis in which the (2) If the alarm occurs again, check the connection and inserting
(CONVERTER) alarm occurred state of the following cables and connectors.
EAXA21-CN507,510
EAXB21-CN531,532,533
Converter-CN557
Cable between the regenerative resistors
Module failure(Re- Replace the regenerative resistor.
Alarm list
2
- 509
2 - 510
Alarm list
No. Code
Overloading Check that the load does not exceed the allowable limit.
1369 INPUT POWER Sub Code: Signifies Voltage failure Modify the primary breaker voltage to the specified voltage
OVER VOLT- the physical No. of 200V(+10 15 ).
AGE(CONV) converter in which the
alarm occurred
(2) If the alarm occurs again, check the connection and inserting
state of the following cables and connectors.
EAXA21-CN507,510
EAXB21-CN531,532,533
Converter CN551,553
No. Code
1400 ENCODER ER- 1 Conveyor encoder 1 Connection failure, Replace the cable of the conveyor encoder 1 or encoder.
ROR(CONVEYOR) is abnormal. Module failure (en-
coder)
2 Conveyor encoder 2 Connection failure, Replace the cable of the conveyor encoder 2 or encoder.
is abnormal. Module failure (en-
coder)
3 Conveyor encoder 3 Connection failure, Replace the cable of the conveyor encoder 3 or encoder.
is abnormal. Module failure (en-
coder)
1401 CANNOT CHANGE Input error Do not switch "Encoder / Virtual encoder" with the general signal
CONVEYOR MODE while performing the conveyor synchronized function.
1402 WORK IN/NOT Work status error Check the work in/not shift data and actual the work status with-
DATA CNT. LMT. in the shift area.
OVER
Alarm list
2
- 511
2 - 512
Alarm list
No. Code
1403 WORK IN/NOT Work status error Check the work in/not shift data and actual the work status with-
SHIFT DATA POS in the shift area.
LMT.
1404 WORK ID. DATA Work status error Check the work in/not shift data and actual the work status with-
CNT. LMT. OVER in the shift area.
1405 WORK ID. SHIFT Work status error Check the work in/not shift data and actual the work status with-
DATA POS LMT. in the shift area.
1406 START SHIFT Work status error Check the start shift data and actual the work status within the
DATA CNT. LMT. shift area.
OVER
1407 START SHIFT Work status error Check the start shift data and actual the work status within the
DATA POS LMT. shift area.
1420 SYSTEM ER- Sub Code: 1-221 Software operation (1) Turn the power OFF then back ON.
ROR(BENDING) It is the kind of sensor error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
process error of NANCE mode, and then contact your YASKAWA representative
Bending function. about occurrence status (operating procedure).
No. Code
1421 ENCODER ER- Sub code: Linear Linear scale or the (1)Check the linear scale value and the connection.
ROR(LNR SCALE) scale port number connection failure
1422 CANNOT CHANGE Software operation (1) Turn the power OFF then back ON.
ENCODER INPUT error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1437 PORT OPEN ER- Software operation (1) Turn the power OFF then back ON.
ROR error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1500 SAFETY CIRCUIT Circuit board failure (1) Turn the power OFF then back ON.
FAULT(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1501 SVMX RELAY Circuit board failure (1) Turn the power OFF then back ON.
STICKING(SERVO (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
I/O) CMOS.BIN before replace the board to be safe.
1502 CONTACTOR Circuit board failure (1) Turn the power OFF then back ON.
STICKING (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
(SERVO I/O) CMOS.BIN before replace the board to be safe.
Alarm list
2

- 513
2 - 514
Alarm list
No. Code
IN FAULT(SV I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1504 TUSON RELAY Circuit board failure (1) Turn the power OFF then back ON.
1506 BROKEN CONTAC- Circuit board failure (1) Turn the power OFF then back ON.
TOR FUSE(SERVO (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
I/O) CMOS.BIN before replace the board to be safe.
1507 BROKEN S_ON Circuit board failure (1) Turn the power OFF then back ON.
FUSE(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
WDT ERROR(SV I/ (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
O) CMOS.BIN before replace the board to be safe.
No. Code
1509 EXTERNAL WDT Circuit board failure (1) Turn the power OFF then back ON.
OVER(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1510 EXTERNAL WDT Circuit board failure (1) Turn the power OFF then back ON.
BROKEN(SERVO I/ (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
O) CMOS.BIN before replace the board to be safe.
1511 COMMUNICATION Circuit board failure (1) Turn the power OFF then back ON.
ERR (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
(PLDs)(SERVO I/O) CMOS.BIN before replace the board to be safe.
1512 POWER SUPPLY Connection failure Check the power supply cable of the cooling fan in the CPS
FAN ERROR(SER- power unit.
VO)
Circuit board failure Check the cooling fan in the CPS power unit is working.
(YPU unit) Replace the CPS power unit.
Install failure Check that the air inlet or outlet is not blocked.
1513 POWER SUPPLY The temperature ris- Turn the power OFF then back ON after cooling the controller.
OVERHEAT(SER- es in the controller
Alarm list
VO)
2
- 515
2 - 516
Alarm list
No. Code
Connection failure Check the power supply cable of the cooling fan in the CPS
power unit.
Circuit board failure Replace the CPS power unit.
(YPU unit)
1514 OVERHEAT The temperature ris- Turn the power OFF then back ON after cooling the amplifier.
(AMPLIFIER) es in the amplifier
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙Amplifier-CN581

1515 SON_OUT RELAY Circuit board failure (1) Turn the power OFF then back ON.
No. Code
1516 BRRCER RELAY Circuit board failure (1) Turn the power OFF then back ON.
1547 CURRENT FEED- The data [XXX__] in- Ground fault Check if a ground fault has not occurred in the U-, V-, and W-
BACK ERROR dicates the alarm con- phase of motor power line, or short circuit has not occurred be-
tents. tween these phases.
200:The motor cur-
rent value is abnor-
mal.
The data [_______Y]
indicates the physical
axis number.
∙EAXA21-CN501 to 506,-CN521
∙EAXB21-CN531,532,533
∙YSF22-CN217
∙Amplifier-CN581
∙Converter-CN552A
Alarm list
2
fier)
- 517
(2) If the alarm occurs again, replace the amplifier.

2 - 518
Alarm list
No. Code
Module failure (mo- (1) Turn the power OFF then back ON.
tor) (2) If the alarm occurs again, replace the motor.
(2) If the alarm occurs again, replace the EAXA21 board and
EAXB board. Save the CMOS.BIN before replace the board to
be safe.
1592 MONITOR PLD ER- Circuit board failure (1) Turn the power OFF then back ON.
ROR 1(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
No. Code
1610 F-SAFE CPU SYN- Connection failure (1) Turn the power OFF then back ON.
CHRO ERROR (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
occurred.
1612 F-SAFE COMMUNI- 0 Communication sta- Connection failure (1) Turn the power OFF then back ON.
CATION ERROR tus error (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
Alarm list
2
occurred.
- 519
2 - 520
Alarm list
No. Code
1 Watchdog timer error Connection failure (1) Turn the power OFF then back ON.
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
2 JL0101 alarm Connection failure (1) Turn the power OFF then back ON.
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
No. Code
tus error (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
Alarm list
2
- 521
2 - 522
Alarm list
No. Code
4 Data consistency er- Connection failure (1) Turn the power OFF then back ON.
ror (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
5 CRC error Connection failure (1) Turn the power OFF then back ON.
∙EAXA21-CN515
∙YIF01-CN113
∙YSF25-CNBX
No. Code
6 CRC error YSF25 board failure (1) Turn the power OFF then back ON.
7 CRC error YSF25 board failure (1) Turn the power OFF then back ON.
Alarm list
2

- 523
2 - 524
Alarm list
No. Code
1613 F-SAFE Sub Code: Signifies Blown fuse If AL1962 "EAXA21 board failure" occurred simultaneously with
ENCODER COMM. the axis in which the this alarm,
ERR 1 alarm occurred Replace the fuse (F1) in the EAXA21 board.
[Robot axis]
∙EAXA21-CN508
∙YSF25-CNBX
[External axis]
∙EAXB21-CN534,535,536,540,541,542
∙YSF25-CNBX
No. Code
1614 F-SAFE ENCODER Blown fuse If AL1962 "EAXA21 board failure" occurred simultaneously with
COMM. ERR 2 this alarm,
Replace the fuse(F1) in the EAXA21 board.
[Robot axis]
∙EAXA21-CN508
∙YSF25-CNBX
[External axis]
∙EAXB21-CN534,535,536,540,541,542
∙YSF25-CNBX
1615 F-SAFE SYSTEM YSF25 board failure (1) Turn the power OFF then back ON.
Alarm list
ERROR (2) If the alarm occurs again, replace the YSF25 board.
2
- 525

2 - 526
Alarm list
No. Code
1616 F-SAFE SYSTEM YSF25 board failure (1) Turn the power OFF then back ON.
ERROR 1 (2) If the alarm occurs again, replace the YSF25 board.
1618 F-SAFE ARITHME- YSF25 board failure (1) Turn the power OFF then back ON.
TIC ERROR (2) If the alarm occurs again, replace the YSF25 board. Save the
1619 F-SAFE PARAME- YSF25 board failure (1) Turn the power OFF then back ON.
TER ERROR (2) If the alarm occurs again, replace the YSF25 board. Save the
No. Code
1622 F-SAFE DEFEC- Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
TIVE ENCODER the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
∙EAXA21-CN508
∙YSF25-CNBX
[External axis]
∙EAXB21-CN0534,535,536,540,541,542
∙YSF25-CNBX
Alarm list
2
- 527
2 - 528
Alarm list
No. Code
1623 F-SAFE ENCODER Sub Code: Signifies Connection failure (1) Turn the power OFF then back ON.
CORR. NUM OVER the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
∙EAXA21-CN508
∙YSF25-CNBX
[External axis]
∙EAXB21-CN0534,535,536, 540,541,542
∙YSF25-CNBX
1626 F-SAFE BOARD Connection failure (1) Turn the power OFF then back ON.
NOT INSTALLED (2) If the alarm occurs again, check the connection and insertion
∙EAXA21-YSF25
No. Code
1627 F-SAFE BOARD Connection failure (1) Turn the power OFF then back ON.
COMM ER- (2) If the alarm occurs again, check the connection and insertion
ROR(SERVO) of the following cables and connectors.
∙EAXA21-YSF25
1630 F-SAFE MUTUAL YSF25 board failure (1) Turn the power OFF then back ON.
DIAG. ERR(WDT) (2) If the alarm occurs again, replace the YSF25 board.

1631 F-SAFE MUTUAL Setting error Confirm that the rotary switch on the YSF25 [#1-8] board is set
DIAG. ERR (HW to [0-7].
Alarm list
SET)
2
- 529
2 - 530
Alarm list
No. Code
1632 F-SAFE MUTUAL YSF25 board failure (1) Turn the power OFF then back ON.
DIAG. ERR (MONI- (2) If the alarm occurs again, replace the YSF25 board.
TOR)
1635 F-SAFE LOW 1 Low voltage error de- YSF25 board failure (1) Turn the power OFF then back ON.
VOLTAGE tected in the 1.0V (2) If the alarm occurs again, replace the YSF25 board.
supply line.
2 Low voltage error de- YSF25 board failure (1) Turn the power OFF then back ON.
tected in the 1.5V (2) If the alarm occurs again, replace the YSF25 board.
supply line.
tected in the1.8V sup- (2) If the alarm occurs again, replace the YSF25 board.
ply line.
No. Code
supply line.
supply line.
supply line.
1636 F-SAFE OVER 1 Over voltage error de- YSF25 board failure (1) Turn the power OFF then back ON.
VOLTAGE tected in the 1.0V (2) If the alarm occurs again, replace the YSF25 board.
supply line.
Alarm list
2
- 531
2 - 532
Alarm list
No. Code
2 Over voltage error de- YSF25 board failure (1) Turn the power OFF then back ON.
supply line.
supply line.
supply line.
supply line.
supply line.
No. Code
1637 F-SAFE RAM DIAG- YSF25 board failure (1) Turn the power OFF then back ON.
NOSIS ERROR (2) If the alarm occurs again, replace the YSF25 board.
1638 F-SAFE ROM DI- YSF25 board failure (1) Turn the power OFF then back ON.
AGNOSIS ERROR (2) If the alarm occurs again, replace the YSF25 board.
1639 F-SAFE RAM AREA YSF25 board failure (1) Turn the power OFF then back ON.
CONVERSION (2) If the alarm occurs again, replace the YSF25 board.
ERR
1640 F-SAFE REAL TIME YSF25 board failure (1) Turn the power OFF then back ON.
MONITOR ERROR (2) If the alarm occurs again, replace the YSF25 board.
Alarm list
2
- 533
2 - 534
Alarm list
No. Code
1642 F-SAFE WATCH- YSF25 board failure (1) Turn the power OFF then back ON.
DOG SIGNAL ER- (2) If the alarm occurs again, replace the YSF25 board.
ROR
No. Code
1643 F-SAFE SAFETY Sub Code:Code [X _ Data error (1) Turn the power OFF then back ON.
SIGNAL SET ER- _ _ ] indicates the ab- (2) If the alarm occurs again, check the configuration of condi-
ROR normal content. tion file abnormality occurs.
1000: Input/output
signal number in con-
ditionfile is abnormal.
2000: Functional
safety general input
signal that is not avail-
able is set in condition
file.
3000: Functional
safety general output
signal that is not avail-
able is set in condition
file.
4000: Safety fieldbus
input signal that is not
available is set in con-
dition file.
output signal that is
not available is set in
condition file.
400: Robot range limit
function
500: Tool angle moni-
tor function
Alarm list
2
- 535
2 - 536
Alarm list
No. Code
1643 F-SAFE SAFETY 600: Tool change Data error (1) Turn the power OFF then back ON.
SIGNAL SET ER- monitor function (2) If the alarm occurs again, check the configuration of condi-
ROR 6000: File valid condition file abnormality occurs.
tion data is abnormal
Code [ _ Y _ _] indi-
cates the type of con-
dition file abnormality
occurs.
100: Axis range limit
function
200: Axis speed mon-
itor function
300: Speed limit func-
tion
1645 F-SAFE CRC ER- Sub Code: Signifies YSF25 board failure (1) Turn the power OFF then back ON.
ROR the file kind in which (2) If the alarm occurs again, replace the YSF25 board.
the alarm occurred.
No. Code
1646 F-SAFE Sub Code: The rotary Setting error (1) Select the following menu.
COMM.SETTING switch number re- ∙{File} - {Initialize}, {Functional Safety Board FLASH Reset} in
ERROR corded in the YSF25 MAINTENANCE mode.
board is shown.
Setting error Confirm that the rotary switch on the YSF25[#1-8] board is set
to [0-7].
1649 MODE SIGNAL ER- Detect mode signal Connection failure (1) Turn the power OFF then back ON.
ROR error (2) If the alarm occurs again, check the connection and insertion
∙Programming Pendant cable
∙X81 cable (Cable in the robot controller)
Programming Pen- Replace the Programming Pendant.
dant failure
Fuse failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the fuse of the YSF22
board and then turn the power ON again.
Alarm list
2
- 537
2 - 538
Alarm list
No. Code
Other If the alarm occurs again, save the CMOS.BIN in MAINTE-
1650 FILE TRANSFER 1 An error occurred Software operation (1) Turn the power OFF then back ON.
DATA ERROR (SV) when the last data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
was not received NANCE mode, and then contact your YASKAWA representative
during the first data about occurrence status (operating procedure).
communication at ex-
ecution of motion
command.
(2) If the error occurs again, save the CMOS.BIN in MAINTE-
NANCE mode, replace the following board.
∙EAXA21 board
If the error occurs again, save the CMOS.BIN in MAINTE-
NANCE mode, and then replace the YCP21 board. In this case,
use the original CF card of the YCP21 board.
(2) If the error occurs again, save the CMOS.BIN in MAINTE-
NANCE mode, replace the YIF01 board. and then load the
CMOS.BIN previously saved in MAINTENANCE mode.
2 An error occurred EAXA21 board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF
when the first data then back ON.)
was not received (2) If the alarm occurs again, replace the EAXA21 board. Save
during on the way the CMOS.BIN before replace the board to be safe.
data communication
at execution of motion
command.
No. Code
3 An error occurred EAXA21 board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF
when the first data then back ON.)
was not received (2) If the alarm occurs again, replace the EAXA21 board.
during the last data
communication at ex- Save the CMOS.BIN before replace the board to be safe.
ecution of motion
command.
1651 FILE TRANSFER 1 The data size for the EAXA21 board failure (1) Turn the power OFF then back ON.
DATA SIZE ERR file transfer does not (2) If the alarm occurs again, replace the EAXA21 board.
(SV) agree with the re-
ceived buffer size. Save the CMOS.BIN before replace the board to be safe.

2 Buffer size over EAXA21 board failure (1) Turn the power OFF then back ON.

1652 DB ON ERROR Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
(SERVO) the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
Alarm list
alarm occurred the CMOS.BIN before replace the board to be safe.
2
- 539
2 - 540
Alarm list
No. Code
1653 BASE BLOCK SIG- Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
NAL ERROR(SER- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
VO) alarm occurred the CMOS.BIN before replace the board to be safe.
1654 PG POWER ON Setting error Check if the PICK instruction was executed again for the axis
MULTIPLE REQ where executed the PICK instruction in the gun change system.
(SV)
1655 CONVERTER Module failure (con- (1) Turn the power OFF then back ON.
COMMAND ER- verter) (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ROR (SV) NANCE mode, and then contact your YASKAWA representative
1656 AXIS ENDLESS Setting error Check the JOB.
INFO NOT GENER- (1) Turn the power OFF then back ON.
ATED(SV) (2)If the error occurs again, contact your YASKAWA represen-
tative.
No. Code
1657 AXIS ENDLESS 1 The home position Setting error Disable either the axis endless function or the home position de-
SPECIFIC. detecting function tection function of corresponding axis.
ERR(SV) was used for the axis
for which the axis
endless function was
enabled.
The home position
detecting function
cannot be used for
the axis which the
axis endless function
was enabled.
2 The SERVO float Setting error Disable either the axis endless function or the SERVO float
function was used for function of corresponding axis.
the axis for which the
was enabled.
The SERVO float
function cannot be
used for the axis
which the axis end-
less function was en-
abled.
Alarm list
2
- 541
2 - 542
Alarm list
No. Code
3 The encoders manu- Setting error Disable the corresponding axis endless function.
factured by Tamaga-
wa Seiki Co., Ltd. was
used for the axis for
which the axis end-
abled.
The encoders manu-

factured by Tamaga-
wa Seiki Co., Ltd.
cannot be used for
the axis which the
was enabled.
4 The general SERVO Setting error Disable the corresponding axis endless function.
function was used for
the axis for which the
was enabled.
The general SERVO
function cannot be
used for the axis
which the axis end-
abled.
No. Code
1658 REDUCTION STOP 1 The SERVO float Setting error Check the JOB.
SPECIFIC. function was used for
ERR(SV) the axis for which the
deceleration stop
function was enabled.
The SERVO float
function cannot be
used for the axis
which the decelera-
tion stop function was
enabled.
2 The specified axis Setting error Check the JOB.
speed control func-
tion was executed for
the axis which the de-
celeration stop func-
tion was enabled.
Specified axis speed
control function can-
not be used for the
axis which the decel-
eration stop function
was enabled.
1659 MOTOR GUN Setting error Check if the PICK instruction was executed again for the axis
CHANGE PG PWR where executed the PICK instruction in the gun change system.
Alarm list
ON ERR(SV)
2
- 543
2 - 544
Alarm list
No. Code
1660 MOTOR GUN Setting error Check if the PICK instruction was executed again for the axis
CHANGE SV ON where executed the PICK instruction in the gun change system.
ERR(SV)
1661 MOTOR GUN File setting error Check the gun condition file.
COND. FILE NO.
ERR(SV)
1662 MOTOR GUN Setting error Check the JOB.
PRESS FILE NO.
ERR(SV)
1663 WRONG MOTOR File setting error Check the gun condition file.
GUN PRESS AXIS
(SV)
1664 MICRO PRG EXE- Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
CUTE TIME the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
OVER(SV) alarm occurred the CMOS.BIN before replace the board to be safe.
No. Code
1665 MICRO PROGRAM Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SYNC. ERROR the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
(SV) alarm occurred the CMOS.BIN before replace the board to be safe.
1666 FILE RECEIVE IN- Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
COMPLETE (SER- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
VO) alarm occurred the CMOS.BIN before replace the board to be safe.
1667 RESOLUTION EAXA21 board failure (1) Turn the power OFF then back ON.
CONVERSE (2) If the alarm occurs again, replace the EAXA21 board. Save
CONST ERR(SV) the CMOS.BIN before replace the board to be safe.
1668 CANNOT GENER- EAXA21 board failure (1) Turn the power OFF then back ON.
ATE GENERAL (2) If the alarm occurs again, replace the EAXA21 board. Save
CMD (SV) the CMOS.BIN before replace the board to be safe.

1669 GENERAL SERVO EAXA21 board failure (1) Turn the power OFF then back ON.
Alarm list
CMD CODE ERR (2) If the alarm occurs again, replace the EAXA21 board. Save
2
(SV) the CMOS.BIN before replace the board to be safe.

- 545
2 - 546
Alarm list
No. Code
1670 GENERAL SERVO EAXA21 board failure (1) Turn the power OFF then back ON.
SETTING ERROR (2) If the alarm occurs again, replace the EAXA21 board. Save
(SV) the CMOS.BIN before replace the board to be safe.

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

1672 GRP CHANGE PG Sub Code: Signifies Setting error Check the JOB.
POWER ON ERR the axis in which the
(SV) alarm occurred
1673 GRP CHANGE Sub Code: Signifies Setting error Check the JOB.
SERVO ON ERROR the axis in which the
(SV) alarm occurred
1674 CTRL LAW Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SWITCHING OR- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
DER ERR (SV) alarm occurred the CMOS.BIN before replace the board to be safe.
No. Code
1675 BASE BLOCK Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
READ SIGNAL ERR the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
1676 BASE BLOCK Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
WRITE SIGNAL the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
ERR (SV) alarm occurred the CMOS.BIN before replace the board to be safe.
1677 U.PROG. BB READ Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SIG INCON- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
SIST(SV) alarm occurred the CMOS.BIN before replace the board to be safe.
1678 MOTOR CMD PO- Sub Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SITION ERROR the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save
1679 EXTERNAL BRAKE Fuse failure Replace the YBK21 fuse.
FUSE BROWN(SV)
Alarm list
YBK21 board failure (1) Turn the power OFF then back ON.
2
- 547
(2) If the alarm occurs again, replace the YBK21 board.

2 - 548
Alarm list
No. Code
∙YBK21-CN403,CN405
∙YPS21-CN153(+24V3)
∙EAXA21-CN513
1680 GENERAL I/O EAXA21 board failure (1) Turn the power OFF then back ON.
FUSE BROWN(SV) (2) If the alarm occurs again, replace the EAXA21 board. Save
1681 BRAKE POWER Connection failure (1) Turn the power OFF then back ON.
ERROR(SV) (2) If the alarm occurs again, check the connection and insertion
∙YBK21-CN403
∙YPS21-CN153(+24V3)
Short circuit or ground (1) Turn the power OFF then back ON.
fault (2) If the alarm occurs again, check the connection and inserting
Check the insertion, connection, Short circuit or ground fault of
the followings.
∙YFC22-CN219(81,82,92,93 : +24V2U3)
∙YFC22-CN219(83,84,94,95 : 024V2)
∙YIO-CN306,CN307,CN308,CN309
YBK board failure Check the power source of YBK21, and then if no fault is found,
replace the brake unit.
No. Code
1682 EXTERNAL BRAKE Connection failure (1) Turn the power OFF then back ON.
POWER ER- (2) If the alarm occurs again, check the connection and insertion
ROR(SV) of the following cables and connectors.
·YBK21-CN404,CN405
·EAXA21-CN513
·The external axis brake power supply for brake unit
the followings.
∙YFC22-CN219(81,82,92,93 : +24V2U3)
∙YFC22-CN219(83,84,94,95 : 024V2)
∙YIO-CN306,CN307,CN308,CN309
YBK board failure Check the external axis brake of YBK21 in the power source,
and then if no fault is found, replace the brake unit.
1683 DC 24V POWER Short circuit or ground (1) Turn the power OFF then back ON.
SUPPLY FAIL- fault (2) If the alarm occurs again, check the brake connection if there
URE(SV) is a ground fault or short circuit.
(2) If the alarm occurs again, replace the following unit.
Alarm list
∙YPS21 unit
2
- 549
2 - 550
Alarm list
No. Code
1684 INSTANT POWER The instant power fail- Voltage failure Check if the primary power supply voltage is dropping.
FAILURE(TRQ)(SV) ure occurred and then
the torque was satu-
rated.
1685 INSTANT POWER The instant power fail- Voltage failure Check if the primary power supply voltage is dropping.
FAIL- ure occurred for lon-
URE(TIME)(SV) ger than the certain
time period.
1686 POS.DEVITATION Setting error Check the settings for manipulator motion condition (influence
SATURATING by external force, load condition).
ERR(SV)
Connection failure Check if a ground fault has not occurred in the U-, V-, and W-
phase of motor power line, or short circuit has not occurred be-
tween these phases.
∙EAXA21-CN501 to 506
∙EAXB21-CN531,532,533
∙Amplifier-CN581
No. Code
1687 COORDINATED Setting error (1) Turn the power OFF then back ON.
STOP FUNC. DIS- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ABLE NANCE mode, and then contact your YASKAWA representative
1688 MEMORY DATA 1 Storage file number is Software operation (1) Turn the power OFF then back ON.
FILE STORAGE inconsistent error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ERROR NANCE mode, and then contact your YASKAWA representative
2 Start index is incon- Software operation (1) Turn the power OFF then back ON.
sistent error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1690 PCI BOARD NOT AD board failure (1) Turn the power OFF then back ON.
DETECTED (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1691 FORCE SENSOR Force sensor board (1) Turn the power OFF then back ON.
BOARD UN- failure (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
MOUNTED NANCE mode, and then contact your YASKAWA representative
1692 PG POWER FUSE Fuse failure Replace the EAXA21 board fuse(F1).
BLOWN(SV)
Alarm list
2
- 551
2 - 552
Alarm list
No. Code
1693 UNDEFINED MO- Sub Code: Signifies Setting error The spot high speed function is enabled despite the invalid sta-
TOR GUN ARM the control group in tus of GUN ARM CONTROL function.
CONTROL which the alarm oc- Please complete the setting of GUN ARM CONTROL as the fol-
curred lowing operations.
1. start the system in MAINTENANCE mode.
2. change the security to management mode.
3. select [SYSTEM] ->[SETUP] ->[OPTION FUNCTION] -
>[GUN ARM CONTROL].
4. change the mode to PLAYBACK, then push [EXECUTE].
5. set the [INERTIA] and [FREQ].
6. select [ENABLE], after the setting the [INERTIA] and [FREQ].
1694 GROUND Sub Code: Signifies Short circuit or ground (1) Turn the power OFF then back ON.
FAULT(BRAKE the axis in which the fault (2) If the alarm occurs again, check the brake connection if there
LINE) alarm occurred is a ground fault or short circuit.
1695 DC 24V POWER YPS21 unit failure (1) Turn the power OFF then back ON.
SUPPLY FAIL- (2) If the alarm occurs again, replace the following unit.
URE(SV) ∙YPS21 unit
No. Code
1860 M-SAFETY COM- 0 There was no re- Connection failure Check the connection and insertion of the following boards.
MUNICATE ERROR sponse from Ma- ∙YCP21 board
chine-Safety(YSF21) ∙YIF01 board
board within the time ∙YSF21 board
limit.
After replacing the board, remove the CF card that has been in-
serted into the YCP21to be removed, insert it the new YCP21.
CMOS.BIN before replace the board. Replace the YIF01 board,
and then load the CMOS.BIN saved before alarm occurred.
1 The reset of Machine- Connection failure Check the connection and insertion of the following boards.
Safety alarm was not ∙YCP21 board
properly completed. ∙YIF01 board
∙YSF21 board
Alarm list
2

- 553
2 - 554
Alarm list
No. Code
2 Calculation results do Connection failure Check the connection and insertion of the following boards.
not match the receive ∙YCP21 board
data. ∙YIF01 board
∙YSF21 board

No. Code
1861 M-SAF SYSTEM Sub code indicates YSF21 board failure (1) Turn the power OFF then back ON.
ERROR where the error oc- (2) If the alarm occurs again, replace the YSF21 board.
curred.
No. Code
1862 M-SAF VERSION An error is detected in Hardware failure Please try the software update again.
UP ERROR the update process of
Machine-Safety soft-
ware.
1863 M-SAF SETUP ER- 1 The parameter set- Setting error Please re-configure the setting of the control group in MAINTE-
ROR ting is incorrect. NANCE mode.
2 Parameter setting Setting error In MAINTENANCE mode, check that the control group setting is
does not match the appropriate for the system.
number of YSF22
boards.
YSF22 board failure Check the rotary switch setting of YSF22 board.
Alarm list
2
- 555
2 - 556
Alarm list
No. Code
3 The parameter set- Setting error In the control group setting window of MAINTENANCE mode,
ting is incorrect. check that the following items are appropriate for the system
configuration.
(1) In case of STO connection:
-SERVO board which connects to each control group
-The number of axis which connects to connector of each SER-
VO board
-Contactor unit which connects the brake
-Converter which connects the axis
-ON_ENABLE signal which connects to each control group
-The setting of overrun signal
(2)In case of Contactor connection:
-Servo board which connects to each control group.
-The number of axis which connects to connector of each SER-
VO board
-Axis number to be connected to the connector of the SERVO
board
-Converter which connects the axis
-Contactor unit which connects the brake
-The setting of overrun signal
5 YSF23 board is not Setting error YSF23 board is not connected. Connect a YSF23 board.
connected.
No. Code

10 The CRC data which Setting error If the alarm occurs again, Select the following menu.
calculated do not ac- ∙Start up MAINTENANCE mode.
cord with CRC data
saved away by Flash ∙Change to the safety mode security.
Rom. ∙Select {Machine Safety Board FLASH Reset} by going to {INI-
TIALIZE} from {FILE} in the main menu.
∙Turn the power OFF then back ON.
11 The CRC data which Setting error If the alarm occurs again, Select the following menu.
calculated do not ac- ∙Start up MAINTENANCE mode.
cord with CRC data
saved in a parameter. ∙Change to the safety mode security.
∙Select {Machine Safety Board FLASH Reset} by going to {INI-
TIALIZE} from {FILE} in the main menu.
∙Turn the power OFF then back ON.
Alarm list
2
- 557
2 - 558
Alarm list
No. Code
12 The calculated CRC Setting error If the alarm occurs again, Select the following menu.
data are not accord ∙Start up MAINTENANCE mode.
with the CRC data
that is saved in ∙Change to the safety mode security.
FlashRom. In addi- ∙Select {Machine Safety Board FLASH Reset} by going to {INI-
tion, both the CRC TIALIZE} from {FILE} in the main menu.
data that is saved in ∙Turn the power OFF then back ON.
the parameter does
not match.

1864 M-SAF CPU 1 There was no re- Connection failure Check the connection and insertion of the following boards.
BOARD COMM sponse from YCP21 ∙YCP21 board
ERRO board within the time ∙YIF01 board
limit. ∙YSF21 board
No. Code
data. ∙YIF01 board
∙YSF21 board
data on a logical cir-
cuit. ∙YIF01 board
∙YSF21 board
Alarm list
2
- 559
2 - 560
Alarm list
No. Code
4 Here was no re- Connection failure Check the connection and insertion of the following boards.
sponse from YCP21 ∙YCP21 board
board within the time
limit. ∙YIF01 board
∙YSF21 board
Save the CMOS.BIN before replace the board. Replace the
occurred.
No. Code
1865 M-SAF I/O BOARD 101 CPU1 of YSF21 Connection failure Check the connection of the MII cable between YSF21 board
COMM ERROR board did not detect a (CN201/CN202) and YSF22 board (CN211/CN212).
response from YSF22 And check if a terminator(CN211/CN212) is connected.
board within a time
limit.
YSF22 board setting Check the rotary switch setting of YSF22 board.
failure
Fuse failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the fuse of the YSF22
board and then turn the power ON again.
102 CPU1 of YSF21 Connection failure Check the connection of the MII cable between YSF21 board
board detected an er- (CN201/CN202) and YSF22 board (CN211/CN212).
ror of communication
ASIC.
Alarm list
2
- 561
2 - 562
Alarm list
No. Code
board was not able to (CN201/CN202) and YSF22 board (CN211/CN212).
detect connection
with YSF22 board in
start up process.
YSF22 board setting Check the setting number of the rotary switch of the YSF22
failure board.
board detected con- (CN201/CN202) and YSF22 board (CN211/CN212).
nection with CH2 of
YSF22 board in start
up process.
No. Code
105 CPU1 of YSF21 Connection failure (1) Turn the power OFF then back ON.
board did not detect a (2) If the alarm occurs again, check the connection and insertion
response from YSF22 of the following boards.
board within a time
limit. Check the touch of the MII cable between YSF21 board
(CN201/CN202) and YSF22 board (CN211/CN212).
112 CPU1 of YSF21 de- Connection failure (1) Turn the power OFF then back ON.
tected bit failure in a (2) If the alarm occurs again, check the connection and insertion
communication IC of the following boards.
with the I/O board.
Check the touch of the MII cable between YSF21 board
tected status failure in (2) If the alarm occurs again, check the connection and insertion
a communication IC of the following boards.
Alarm list
with the I/O board.
2
Check the touch of the MII cable between YSF21 board

- 563

2 - 564
Alarm list
No. Code
201 CPU2 of YSF21 Connection failure Check the connection of the MII cable between YSF21
board did not detect a board(CN201/CN202) and YSF22 board (CN211/CN212).
response from YSF22 And check if a terminator (CN211/CN212) is connected.
board within a time
limit.
error
board detected an er- board(CN201/CN202) and YSF22 board (CN211/CN212).
ror of communication And check if a terminator (CN211/CN212) is connected.
ASIC.
No. Code
board was not able to board(CN201/CN202) and YSF22 board (CN211/CN212).
detect connection
with YSF22 board in
start up process.
board detected con- board(CN201/CN202) and YSF22 board (CN211/CN212).
nection with CH1 of
YSF22 board in start
up process.
Alarm list
2
- 565
2 - 566
Alarm list
No. Code
205 CPU2 of YSF21 Connection failure (1) Turn the power OFF then back ON.
board did not detect a (2) If the alarm occurs again, check the connection and insertion
response from YSF22 of the following boards.
board within a time
limit. Check the connection of the MII cable between YSF21 board
with the I/O board.
Check the connection of the MII cable between YSF21 board
with the I/O board.
Check the connection of the MII cable between YSF21 board
No. Code
1866 M-SAF F-SAFETY 1 Function Safety did Connection failure ·Check the connection of the MII cable between YSF21
COMM ERROR not come by an online board(CN203) and YSF22 board(CN250/CN251).
mode. And check if a terminator(CN250/CN251) is connected.
·Check the connection of the cable between YPS board(CN155)
and EAXA21 board(CN509).
error
2 Machine Safety re- Connection failure ·Check the connection of the MII cable between YSF21
ceived an offline com- board(CN203) and YSF22 board(CN250/CN251).
mand. And check if a terminator(CN250/CN251) is connected.
Alarm list
2

- 567
2 - 568
Alarm list
No. Code
3 There was no re- Connection failure ·Check the connection of the MII cable between YSF21
sponse from Function board(CN203) and YSF22 board(CN250/CN251).
Safety with in the time And check if a terminator(CN250/CN251) is connected.
limit.
4 Machine Safety was Connection failure ·Check the connection of the MII cable between YSF21
not able to detect the board(CN203) and YSF22 board(CN250/CN251).
first of the sequential And check if a terminator(CN250/CN251) is connected.
number.
No. Code
5 Machine Safety de- Connection failure ·Check the connection of the MII cable between YSF21 board
tected CRC error. (CN203) and YSF22 board (CN250/CN251).
And check if a terminator (CN250/CN251) is connected.
·Check the connection of the cable between YPS board
(CN155) and EAXA21 board (CN509).
6 Machine Safety de- Connection failure ·Check the connection of the MII cable between YSF21 board
tected sequential (CN203) and YSF22 board (CN250/CN251).
number error. And check if a terminator (CN250/CN251) is connected.
7 Machine Safety was Connection failure ·Check the connection of the MII cable between YSF21 board
not able to connect (CN203) and YSF22 board (CN250/CN251).
with Function Safety And check if a terminator (CN250/CN251) is connected.
Alarm list
in start up process.
2

- 569

2 - 570
Alarm list
No. Code
8 Here was no re- Connection failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
sponse from Function again, check the connection and insertion of the following
Safety board within boards.
the time limit. ·Check the connection of the MII cable between YSF21 board
(CN203) and YSF25 board (CN250/CN251).
·Check the connection of a cable between YPS unit (CN155)
and EAXA21 board (CN509).
No. Code
9 Here was no re- Connection failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
sponse from (Func- again, check the connection and insertion of the following
tion Safety board boards.
within the time limit. ·Check the connection of the MII cable between YSF21 board
(CN203) and YSF25 board (CN250/CN251).
·Check the connection of a cable between YPS unit (CN155)
and EAXA21 board (CN509).
10 Detected rotary YSF25 board setting (1) Turn the power OFF then back ON.
switch failure of Func- failure (2) If the alarm occurs again, check the following settings.
tion Safety.
∙Check the rotary switch of YSF25 board.
of the following boards.
∙Check the connection of the MII cable between YSF21
board(CN203) and YSF25 board(CN250/CN251). And check if
a terminator(CN250/CN251) is connected.
Alarm list
2

- 571
2 - 572
Alarm list
No. Code
12 YSF21 detected bit Connection failure (1) Turn the power OFF then back ON.
failure in a communi- (2) If the alarm occurs again, check the connection and insertion
cation IC with Func- of the following boards.
tion Safety board.
Check the connection of the MII cable between YSF21
board(CN203) and YSF22 board(CN250/CN251).
13 YSF21 detected bit Connection failure (1) Turn the power OFF then back ON.
failure in a communi- (2) If the alarm occurs again, check the connection and insertion
cation IC with Func- of the following boards.
tion Safety board.
Check the connection of the MII cable between YSF21
board(CN203) and YSF22 board(CN250/CN251).
No. Code
1867 M-SAF ROM DIAG. 0 An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
ERROR the ROM diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
1 ROM diagnosis func- YSF21 board failure (1) Turn the power OFF then back ON.
tion of Machine Safe- (2) If the alarm occurs again, replace the YSF21 board.
ty detected Flash
ROM failure in start
up process.
2 ROM diagnosis func- YSF21 board failure (1) Turn the power OFF then back ON.
ty detected RAM area
failure in start up pro-
cess.
1868 M-SAF RAM DIAG. 0 Machine Safety soft- YSF21 board failure (1) Turn the power OFF then back ON.
ERROR ware detected failure (2) If the alarm occurs again, replace the YSF21 board.
with RAM diagnosis
function of Machine
Safety in start up pro-
cess.
Alarm list
2
- 573

2 - 574
Alarm list
No. Code
1 RAM diagnosis func- YSF21 board failure (1) Turn the power OFF then back ON.
ty detected a failure.
2 Dual Port RAM diag- YSF21 board failure (1) Turn the power OFF then back ON.
nosis function of Ma- (2) If the alarm occurs again, replace the YSF21 board.
chine Safety detected
a failure in start up
process.
3 Dual Port RAM diag- YSF21 board failure (1) Turn the power OFF then back ON.
nosis function of Ma- (2) If the alarm occurs again, replace the YSF21 board.
chine Safety detected
a failure.
No. Code
Alarm list
2
- 575
2 - 576
Alarm list
No. Code
No. Code
tion detected a failure. (2) If the alarm occurs again, replace the YSF21 board.
20xx RAM diagnosis func- YSF21 board failure (1) Turn the power OFF then back ON.
xx indicates where
Machine Safety soft-
ware detected an
alarm.
Alarm list
2
- 577
2 - 578
Alarm list
No. Code
21xx RAM diagnosis func- YSF21 board failure (1) Turn the power OFF then back ON.
xx indicates where
Machine Safety soft-
ware detected an
alarm.
1869 M-SAF STACK DI- 0 An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
AG. ERROR the stack diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
1 Stack diagnosis func- YSF21 board failure (1) Turn the power OFF then back ON.
No. Code
ty detected a failure in
start up process.
start up process.
start up process.
start up process.
Alarm list
2

- 579
2 - 580
Alarm list
No. Code
start up process.
start up process.
start up process.
start up process.
1870 M-SAF REGISTER 1000 An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
DIAG. ERROR the register diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
No. Code
1871 M-SAF SEQUENCE 101 CPU1 of YSF21 YSF21 board failure (1) Turn the power OFF then back ON.
WATCH ERROR board detected an in- (2) If the alarm occurs again, replace the YSF21 board.
terruption monitoring
failure.
103 CPU1 of YSF21 YSF21 board failure (1) Turn the power OFF then back ON.
board detected an se- (2) If the alarm occurs again, replace the YSF21 board.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
Alarm list
2

- 581
2 - 582
Alarm list
No. Code
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
No. Code
board detected a pro- (2) If the alarm occurs again, replace the YSF21 board.
cessing time monitor-
ing failure.
ing failure.
ing failure.
ing failure.
Alarm list
2

- 583
2 - 584
Alarm list
No. Code
ing failure.
ing failure.
ing failure.
ing failure.
board detected an in- (2) If the alarm occurs again, replace the YSF21 board.
terruption monitoring
failure.
No. Code
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
Alarm list
2

- 585
2 - 586
Alarm list
No. Code
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
No. Code
Other
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
Alarm list
2
- 587
2 - 588
Alarm list
No. Code
quence monitoring
failure.
quence monitoring
failure.
quence monitoring
failure.
1872 M-SAF WATCH- 101 CPU1of YSF21 de- YSF21 board failure (1) Turn the power OFF then back ON.
DOG ERROR tected an error in start (2) If the alarm occurs again, replace the YSF21 board.
up process.
102 CPU1of YSF21 de- YSF21 board failure (1) Turn the power OFF then back ON.
tected an error of it- (2) If the alarm occurs again, replace the YSF21 board.
self.
No. Code
tected an error of (2) If the alarm occurs again, replace the YSF21 board.
CPU2.
CPU2 in start up pro-
cess.
tected an error in start (2) If the alarm occurs again, replace the YSF21 board.
up process.
CPU1.
Alarm list
tected an error of (2) If the alarm occurs again, replace the YSF21 board
2
CPU1.
- 589
2 - 590
Alarm list
No. Code
tected an error of (2) If the alarm occurs again, replace the YSF21 board
CPU1 in start up pro-
cess.
1873 M-SAF OFFLINE Setting error Please re-configure the setting of the control group in MAINTE-
MODE SETUP ER- NANCE mode.
ROR
1874 M-SAF VOLTAGE The CPU1 of YSF21 YSF21 board failure (1) Turn the power OFF then back ON.
WATCH ERROR board has detected (2) If the alarm occurs again, replace the YSF21 board.
an illegal voltage of
the CPU2. (3)If the alarm 1860 occurs, replace the YSF21 board.
The number indicates
as CPU which detect-
ed error, surveillance
voltage, and 0001 or
0002 value.
0001:Over voltage
0002:Low voltage
No. Code
1875 M-SAF I/O BOARD SUB-Code: Fuse failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
VOLTAGE ERROR CPU1 1:CPU1 de- again, check the connection of the fuse of YSF22 board and
tected a 5V low volt- then turn the power ON again.
age
CPU1 2:CPU1 de-
tected a 5V high volt-
age
CPU1 3:CPU1 de-
tected a 24V low volt-
age
CPU1 4:CPU1 de-
tected a 24V high
voltage
CPU1 5:CPU1 de-
tected a voltage error
in 24V power of the
board.
Alarm list
2
- 591
2 - 592
Alarm list
No. Code
1875 M-SAF I/O BOARD CPU2 1:CPU2 de- Fuse failure (1) Turn the power OFF then back ON.(2) If the alarm occurs
VOLTAGE ERROR tected a 5V low volt- again, check the connection of the fuse of YSF22 board and
age then turn the power ON again.
CPU2 2:CPU2 de-
tected a 5V high volt-
age
CPU2 3:CPU2 de-
tected a 24V low volt-
age
CPU2 4:CPU2 de-
tected a 24V high
voltage
CPU2 5:CPU2 de-
tected a voltage error
in 24V power of the
board.
1876 M-SAF I/O BOARD 101 An error of YSF22 YSF22 board failure (1) Turn the power OFF then back ON.
WATCHDOG ER- board was detected in (2) If the alarm occurs again, replace the YSF22 board.
ROR startup process by
CPU1 of YSF21
board.
No. Code
102 An error in channel 1 YSF22 board failure (1) Turn the power OFF then back ON.
of YSF22 board was (2) If the alarm occurs again, replace the YSF22 board.
detected by CPU1 of
YSF21 board.
detected by CPU1 of
YSF21 board.
detected for a definite
period of time by
CPU1 of YSF21
board.

Alarm list
2
- 593
2 - 594
Alarm list
No. Code
201 An error of YSF22 YSF22 board failure (1) Turn the power OFF then back ON.
board was detected in (2) If the alarm occurs again, replace the YSF22 board
startup process by
CPU2 of YSF21
board.
detected by CPU2 of
YSF21 board.
detected by CPU2 of
YSF21 board.
No. Code
detected for a definite
period of time by
CPU2 of YSF21
board.

1877 F-SAF I/O BOARD YSF24 board failure (1) Turn the power OFF then back ON.
NOT INSTALLED (2) If the alarm occurs again, replace the YSF22 board.
1887 F-SAFE RAM DIAG. YSF25 board failure (1) Turn the power OFF then back ON.
ERROR(RD ADDR) (2) If the alarm occurs again, replace the YSF25 board.
1888 F-SAFE RAM DIAG. YSF25 board failure (1) Turn the power OFF then back ON.
ERROR(WT ADDR) (2) If the alarm occurs again, replace the YSF25 board.
Alarm list
2
- 595
2 - 596
Alarm list
No. Code
1889 F-SAFE OPCODE YSF25 board failure (1) Turn the power OFF then back ON.
DIAG. ERROR (2) If the alarm occurs again, replace the YSF25 board.
1890 F-SAFE M-SAFETY 1 Machine safety did Connection failure (1) Turn the power OFF then back ON.
COMM ERROR not come by an online (2) If the alarm occurs again, check the connection and insertion
mode. of the following cables and connectors.
∙CN203 cable of YSF21board.
∙CN250/251 cable of YSF25 board.
∙Terminator is inserted in the CN250 of YSF25 board (last sta-
tion).
Setting error Confirm that the rotary switch on the YSF25[#1-8] board is set
to [0-7].
No. Code
2 Functional safety re- Connection failure (1) Turn the power OFF then back ON.
ceived an offline com- (2) If the alarm occurs again, check the connection and insertion
mand. of the following cables and connectors.
tion).
3 There was no re- Connection failure (1) Turn the power OFF then back ON.
sponse from machine (2) If the alarm occurs again, check the connection and insertion
safety board with in of the following cables and connectors.
the time limit.
tion).
Alarm list
2
- 597
2 - 598
Alarm list
No. Code
4 Functional safety Connection failure (1) Turn the power OFF then back ON.
board was not able to (2) If the alarm occurs again, check the connection and insertion
detect the first of the of the following cables and connectors.
sequential number.
tion).
No. Code
board detected CRC (2) If the alarm occurs again, check the connection and insertion
error. of the following cables and connectors.
tion).
board detected se- (2) If the alarm occurs again, check the connection and insertion
quential number er- of the following cables and connectors.
ror.
tion).
Alarm list
2
- 599
2 - 600
Alarm list
No. Code
7 Interrupt signal does Connection failure (1) Turn the power OFF then back ON.
not occur from the (2) If the alarm occurs again, check the connection and insertion
machine safety of the following cables and connectors.
board.
tion).
8 Communication data Connection failure (1) Turn the power OFF then back ON.
error of Machine (2) If the alarm occurs again, check the connection and insertion
Safety was detected. of the following cables and connectors.
(Running number
over) ∙CN203 cable of YSF21board.
tion)
No. Code
error of Machine (2) If the alarm occurs again, check the connection and insertion
Safety was detected. of the following cables and connectors.
(Running number
don't change) ∙CN203 cable of YSF21board.
tion)
Alarm list
2
- 601
2 - 602
Alarm list
No. Code
of CPU1 and CPU2 is (2) If the alarm occurs again, check the connection and insertion
mismatch. of the following cables and connectors.
tion).
11 Allocation requests of Connection failure (1) Turn the power OFF then back ON.
safety field bus signal (2) If the alarm occurs again, check the connection and insertion
is abnormal. of the following cables and connectors.
tion).
No. Code
12 The error of JL098 Connection failure (1) Turn the power OFF then back ON.
communication data (2) If the alarm occurs again, check the connection and insertion
was detected. of the following cables and connectors.
tion)
1891 F-SAFE OUTPUT YSF25 board failure (1) Turn the power OFF then back ON.
SIGNAL UNMATCH (2) If the alarm occurs again, replace the YSF25 board.
Alarm list
2
- 603

2 - 604
Alarm list
No. Code
1892 F-SAFE COND FILE Sub Code: Indicates Setting error Check condition file that is indicated in the sub code is set cor-
SETTING ERR the type of condition rectly.
file abnormality oc-
curs.
0:Axis range limit
function
1:Axis speed monitor
function
2:Speed limit function
3:Robot range limit
function
4:Tool angle monitor
function
5:Tool change moni-
tor function
1894 F-SAFE STACK DI- YSF25 board failure (1) Turn the power OFF then back ON.
AG. ERROR (2) If the alarm occurs again, replace the YSF25 board.
No. Code
1895 F-SAFE REGIS- YSF25 board failure (1) Turn the power OFF then back ON.
TER DIAG. ERROR (2) If the alarm occurs again, replace the YSF25 board.
1896 F-SAFE SE- YSF25 board failure (1) Turn the power OFF then back ON.
QUENCE WATCH (2) If the alarm occurs again, replace the YSF25 board.
ERROR
1897 F-SAFE WATCH- YSF25 board failure (1) Turn the power OFF then back ON.
DOG ERROR (2) If the alarm occurs again, replace the YSF25 board.
1898 F-SAFE ENCODER Sub Code: Signifies YSF25 board failure (1) Turn the power OFF then back ON.
SELECT ERROR the axis in which the (2) If the alarm occurs again, replace the YSF25 board.
alarm occurred
1899 F-SAFE MONITOR Setting error (1) Reduce the condition file.
EXECUTE TIME
OVER
Alarm list
2
- 605
2 - 606
Alarm list
No. Code
2.3.3 Alarm number 4000 - 4999

No. Code
4000 MEMORY ERROR Sub Code: Tool num- Data error (1) Reset the alarm.
(TOOL FILE) ber (2) If the alarm occurs again, initialize the tool file in MAINTE-
NANCE mode, and then load the tool file saved in the external
memory device.
YCP21 board failure (1) Reset the alarm.
YIF01 board failure (1) Reset the alarm.
4001 MEMORY ERROR Sub Code: User coor- Data error (1) Reset the alarm.
(USER COORD dinate number (2) If the alarm occurs again, initialize the tool file in MAINTE-
FILE) NANCE mode, and then load the tool file saved in the external
memory device.
Alarm list
2

- 607
2 - 608
Alarm list
No. Code
4002 MEMORY ERROR Data error (1) Reset the alarm.
(SV MON SIGNAL (2) If the alarm occurs again, initialize the tool file in MAINTE-
FILE) NANCE mode, and then load the tool file saved in the external
memory device.
4003 MEMORY ERROR Sub Code: Page Data error (1) Reset the alarm.
(WEAVING FILE) number (2) If the alarm occurs again, initialize the weaving condition file in
MAINTENANCE mode, and then load the weaving condition file
No. Code
YCP21 board, and then insert the CF card which inserted original
YCP21 board into the new YCP21 board.
occurred.
(HOME POS FILE) (2) If the alarm occurs again, initialize the home positioning file in
MAINTENANCE mode, and then load the home positioning file
occurred.
Alarm list
2
- 609
2 - 610
Alarm list
No. Code
(SECOND HOME (2) If the alarm occurs again, initialize the second home position-
POS) ing file in MAINTENANCE mode, and then load the second home
positioning file saved in the external memory device.
occurred.
(POWER SOURCE number (2) If the alarm occurs again, initialize the arc welding Power
COND) Source condition file in MAINTENANCE mode, and then load the
arc welding Power Source condition file saved in the external
memory device.
occurred.
No. Code
4007 MEMORY ERR Sub Code: Page Data error (1) Reset the alarm.
(ARC START number (2) If the alarm occurs again, initialize the arc start condition file in
COND FILE) MAINTENANCE mode, and then load the arc start condition file
occurred.
(ARC END COND number (2) If the alarm occurs again, initialize the arc end condition file in
FILE) MAINTENANCE mode, and then load the arc end condition file
Alarm list
2
- 611
2 - 612
Alarm list
No. Code
occurred.
(ARC AUX COND number (2) If the alarm occurs again, initialize the arc auxiliary condition
FILE) file in MAINTENANCE mode, and then load the arc auxiliary con-
dition file saved in the external memory device.
occurred.
(COM-ARC COND number (2) If the alarm occurs again, initialize the COM-ARC condition file
FILE) in MAINTENANCE mode, and then load the COM-ARC condition
file saved in the external memory device.
No. Code
4011 MEMORY ER- 230 The memory for the Data error (1) Reset the alarm.
ROR(FILE DATA) gun detail setting file (2) If the alarm occurs again, initialize the gun detail setting file in
is damaged. MAINTENANCE mode, and then load the gun detail setting file
Alarm list
2
- 613
2 - 614
Alarm list
No. Code
231 The memory for the Data error (1) Reset the alarm.
spot management file (2) If the alarm occurs again, initialize the spot management file
is damaged in MAINTENANCE mode, and then load the spot management
YCP21 board failure (1) Reset
spot welder I/F file is (2) If the alarm occurs again, initialize the spot welder I/F file in
damaged. MAINTENANCE mode, and then load the spot welder I/F file
No. Code
manual press condi- (2) If the alarm occurs again, initialize the manual press condition
tion file is damaged. file in MAINTENANCE mode, and then load the manual press
condition file saved in the external memory device.
Alarm list
2
- 615
2 - 616
Alarm list
No. Code
wear detection base (2) If the alarm occurs again, initialize the wear detection base po-
position file is dam- sition file in MAINTENANCE mode, and then load the wear detec-
aged. tion base position file saved in the external memory device.
learning control I/O al- (2) If the alarm occurs again, initialize the learning control I/O al-
location file is dam- location file in MAINTENANCE mode, and then load the learning
aged. control I/O allocation file saved in the external memory device.
No. Code
IOSPDCTRL setup (2) If the alarm occurs again, initialize the IOSPDCTRL setup file
file is damaged. in MAINTENANCE mode, and then load the IOSPDCTRL setup
4012 MEMORY ERROR SUB-Code: Condi- Data error (1) Reset the alarm.
(LINK SERVO- tion file number (2) If the alarm occurs again, initialize the link SERVO float condi-
Alarm list
2
FLOAT) tion file in MAINTENANCE mode, and then load the link SERVO
- 617
float condition file saved in the external memory device.

2 - 618
Alarm list
No. Code
occurred.
4013 MEMORY ERROR Sub Code: Condition Data error (1) Reset the alarm.
(LINEAR SERVO- file number (2) If the alarm occurs again, initialize the linear servo float condi-
FLOAT) tion file in MAINTENANCE mode, and then load the linear servo
float condition file saved in the external memory device.
occurred.
No. Code
(ROBOT CALIB number (2) If the alarm occurs again, initialize the file for calibration be-
FILE) tween manipulators in MAINTENANCE mode, and then load the
file for calibration between manipulators saved in the external
memory device.
occurred.
(POWER SRC (2) If the alarm occurs again, initialize the Power Source user defi-
USER-DEF) nition file in MAINTENANCE mode, and then load the Power
Source user definition file saved in the external memory device.
Alarm list
2
occurred.
- 619
2 - 620
Alarm list
No. Code
4018 MEMORY ERR Data error (1) Reset the alarm.
(LADDER PRG (2) If the alarm occurs again, initialize the ladder program file in
FILE) MAINTENANCE mode, and then load the ladder program file
occurred.
(CUTTING COND number (2) If the alarm occurs again, initialize the cutting condition file in
FILE) MAINTENANCE mode, and then load the cutting condition file
No. Code
occurred.
(OPERATION ORI- (2) If the alarm occurs again, initialize the work home position file
GIN) in MAINTENANCE mode, and then load the work home position
occurred.
(CONVEYOR (2) If the alarm occurs again, initialize the conveyor condition file
COND FILE) in MAINTENANCE mode, and then load the conveyor condition
Alarm list
2
- 621
2 - 622
Alarm list
No. Code
occurred.
(PAINT SPECIAL number (2) If the alarm occurs again, initialize the paint special file in
FILE) MAINTENANCE mode, and then load the paint special file saved
in the external memory device.
occurred.
No. Code
(PAINT COND FILE) number (2) If the alarm occurs again, initialize the paint condition file in
MAINTENANCE mode, and then load the paint condition file
occurred.
(WRIST WEAV AMP (2) If the alarm occurs again, initialize the wrist weaving amplitude
FILE) file in MAINTENANCE mode, and then load the wrist weaving am-
plitude file saved in the external memory device.
Alarm list
occurred.
2
- 623
2 - 624
Alarm list
No. Code
(INTERRUPT JOB (2) If the alarm occurs again, initialize the interrupt JOB file in
FILE) MAINTENANCE mode, and then load the interrupt JOB file saved
occurred.
(SENSOR MON (2) If the alarm occurs again, initialize the sensor monitoring con-
COND FILE) dition file in MAINTENANCE mode, and then load the sensor
monitoring condition file saved in the external memory device.
No. Code
occurred.
4030 MEMORY ERR Sub Code: File num- Data error (1) Reset the alarm.
(PRESS COND ber (2) If the alarm occurs again, initialize the press condition file in
DATA FILE) MAINTENANCE mode, and then load the press condition file
occurred.
4031 MEMORY ERROR Sub Code: File num- Data error (1) Reset the alarm.
(SPOT GUN COND ber (2) If the alarm occurs again, initialize the gun condition file in
FILE) MAINTENANCE mode, and then load the gun condition file saved
Alarm list
2
- 625
2 - 626
Alarm list
No. Code
occurred.
(SPOT WELDER ber (2) If the alarm occurs again, initialize the spot welding gun con-
COND) dition file in MAINTENANCE mode, and then load the spot weld-
ing gun condition file saved in the external memory device.
occurred.
No. Code
(GUN PRESSURE ber (2) If the alarm occurs again, initialize the gun pressure file in
FILE) MAINTENANCE mode, and then load the gun pressure file saved
occurred.
(ANTICIPATION OT (2) If the alarm occurs again, initialize the anticipation output (OT)
FILE) file in MAINTENANCE mode, and then load the anticipation out-
put (OT) file saved in the external memory device.
Alarm list
occurred.
2
- 627
2 - 628
Alarm list
No. Code
(ANTICIPATION OG (2) If the alarm occurs again, initialize the anticipation output (OG)
FILE) file in MAINTENANCE mode, and then load the anticipation out-
put (OG) file saved in the external memory device.
occurred.
(WEARING FILE) ber (2) If the alarm occurs again, initialize the wear amount file in
MAINTENANCE mode, and then load the wear amount file saved
No. Code
occurred.
(STROKE POSI- ber (2) If the alarm occurs again, initialize the FULL/SHORT OPEN
TION) position setting file in MAINTENANCE mode, and then load the
FULL/SHORT OPEN position setting file saved in the external
memory device.
occurred.
(PRESSURE FILE) ber (2) If the alarm occurs again, initialize the dry-spotting pressure
file in MAINTENANCE mode, and then load the dry-spotting pres-
sure file saved in the external memory device.
Alarm list
2
- 629
2 - 630
Alarm list
No. Code
occurred.
(FORM CUT FILE) ber (2) If the alarm occurs again, initialize the form cut file in MAINTE-
NANCE mode, and then load the form cut file saved in the exter-
nal memory device.
occurred.
No. Code
(SHOCK LEVEL ber (2) If the alarm occurs again, initialize the shock level file in MAIN-
FILE) TENANCE mode, and then load the shock level file saved in the
external memory device.
occurred.
(SPOT IO AL- ber (2) If the alarm occurs again, initialize the spot I/O allocation file
LOCTE FL) in MAINTENANCE mode, and then load the spot I/O allocation file
Alarm list
occurred.
2
- 631
2 - 632
Alarm list
No. Code
(VISION FILE) number (2) If the alarm occurs again, initialize the vision condition file in
MAINTENANCE mode, and then load the vision condition file
occurred.
(VISION CALIBRA- number (2) If the alarm occurs again, initialize the vision calibration file in
TION) MAINTENANCE mode, and then load the vision calibration file
No. Code
occurred.
(WELD PULSE ber (2) If the alarm occurs again, initialize the welding pulse condition
COND) file in MAINTENANCE mode, and then load the welding pulse
condition file saved in the external memory device.
occurred.
(WELD PULSE SE- (2) If the alarm occurs again, initialize the welding pulse selection
LECT) file in MAINTENANCE mode, and then load the welding pulse se-
lection file saved in the external memory device.
Alarm list
2
- 633
2 - 634
Alarm list
No. Code
occurred.
(CONVEYOR CAL- ber (2) If the alarm occurs again, initialize the conveyor calibration file
IB FILE) in MAINTENANCE mode, and then load the conveyor calibration
occurred.
No. Code
(MACRO DEFINI- (2) If the alarm occurs again, initialize the macro definition file in
TION FILE) MAINTENANCE mode, and then load the macro definition file
occurred.
(SERVO S-GUN (2) If the alarm occurs again, initialize the sealer gun characteris-
FILE) tics file in MAINTENANCE mode, and then load the sealer gun
characteristics file saved in the external memory device.
Alarm list
occurred.
2
- 635
2 - 636
Alarm list
No. Code
(PASTE (2) If the alarm occurs again, initialize the painting amount correc-
QUAN.COMP FL) tion file in MAINTENANCE mode, and then load the painting
amount correction file saved in the external memory device.
occurred.
(AXIS I/O ALLOC (2) If the alarm occurs again, initialize the axis motion I/O alloca-
FILE) tion file in MAINTENANCE mode, and then load the axis motion
I/O allocation file saved in the external memory device.
No. Code
occurred.
(GUN COND. AUX. ber (2) If the alarm occurs again, initialize the gun characteristics aux-
FILE) iliary file in MAINTENANCE mode, and then load the gun charac-
teristics auxiliary file saved in the external memory device.
occurred.
(TOOL INTERFER- ber (2) If the alarm occurs again, initialize the tool interference file in
ENCE) MAINTENANCE mode, and then load the tool interference file
Alarm list
2
- 637
2 - 638
Alarm list
No. Code
occurred.
(PAINT SYS CON- ber (2) If the alarm occurs again, initialize the painting system setting
FIG.) file in MAINTENANCE mode, and then load the painting system
setting file saved in the external memory device.
occurred.
No. Code
(PAINTING SPE- ber (2) If the alarm occurs again, initialize the painting device charac-
CIAL) teristics file in MAINTENANCE mode, and then load the painting
device characteristics file saved in the external memory device.
occurred.
(CCV-PAINT TA- ber (2) If the alarm occurs again, initialize the painting CCV file in
BLE) MAINTENANCE mode, and then load the painting CCV file saved
Alarm list
occurred.
2
- 639
2 - 640
Alarm list
No. Code
(PLUG VOLUME ber (2) If the alarm occurs again, initialize the painting filling file in
FILE) MAINTENANCE mode, and then load the painting filling file saved
occurred.
(EVB GUN COND) ber (2) If the alarm occurs again, initialize the EVB gun condition file
in MAINTENANCE mode, and then load the EVB gun condition
No. Code
occurred.
(EVB TURBIN ber (2) If the alarm occurs again, initialize the EVB turbine condition
COND) file in MAINTENANCE mode, and then load the EVB turbine con-
occurred.
(EVB PAINT COND) ber (2) If the alarm occurs again, initialize the EVB paint condition file
in MAINTENANCE mode, and then load the EVB paint condition
Alarm list
2
- 641
2 - 642
Alarm list
No. Code
occurred.
(CLEARANCE ber (2) If the alarm occurs again, initialize the clearance file in MAIN-
FILE) TENANCE mode, and then load the clearance file saved in the ex-
occurred.
No. Code
(GAUGE SENSOR ber (2) If the alarm occurs again, initialize the gauging sensor condi-
FILE) tion file in MAINTENANCE mode, and then load the gauging sen-
sor condition file saved in the external memory device.
occurred.
(LNR SCALE FILE) ber (2) If the alarm occurs again, initialize the linear scale condition
file in MAINTENANCE mode, and then load the linear scale con-
Alarm list
occurred.
2
- 643
2 - 644
Alarm list
No. Code
(CONVEYOR ber (2) If the alarm occurs again, initialize the conveyor condition aux-
COND SUPP.) iliary file in MAINTENANCE mode, and then load the conveyor
condition auxiliary file saved in the external memory device.
occurred.
(WEAV SYNC (2) If the alarm occurs again, initialize the weaving synchronizing
WELD FILE) welding condition file in MAINTENANCE mode, and then load the
weaving synchronizing welding condition file saved in the external
memory device.
No. Code
occurred.
(I/F PANEL FILE) (2) If the alarm occurs again, initialize the I/F panel file in MAIN-
TENANCE mode, and then load the I/F panel file saved in the ex-
occurred.
(PALLETIZE COND (2) If the alarm occurs again, initialize the palletize condition file in
FILE) MAINTENANCE mode, and then load the palletize condition file
Alarm list
2
- 645
2 - 646
Alarm list
No. Code
occurred.
(LASER TRACKING (2) If the alarm occurs again, initialize the laser tracking welding
START FILE) start file in MAINTENANCE mode, and then load the laser track-
ing welding start file saved in the external memory device.
occurred.
No. Code
END FILE) end file in MAINTENANCE mode, and then load the laser tracking
welding end file saved in the external memory device.
occurred.
(LASER TRACKING (2) If the alarm occurs again, initialize the laser tracking track start
TRACK START file in MAINTENANCE mode, and then load the laser tracking
FILE) track start file saved in the external memory device.

Alarm list
occurred.
2
- 647
2 - 648
Alarm list
No. Code
SET FILE) set file in MAINTENANCE mode, and then load the laser tracking
welding set file saved in the external memory device.
occurred.
(LASER TRACKING (2) If the alarm occurs again, initialize the laser tracking track set
TRACK SET FILE) file in MAINTENANCE mode, and then load the laser tracking
track set file saved in the external memory device.
No. Code
occurred.
(CONDITION FILE (2) If the alarm occurs again, initialize the condition file of corre-
OF CORRE- sponding to laser tracking gap in MAINTENANCE mode, and then
SPONDING TO LA- load the condition file of corresponding to laser tracking gap
SER TRACKING saved in the external memory device.
GAP)
occurred.
(MUTUAL WAIT (2) If the alarm occurs again, initialize the mutual wait set file in
SET FILE) MAINTENANCE mode, and then load the mutual wait set file
Alarm list
2
- 649
2 - 650
Alarm list
No. Code
occurred.
(INTERF. PREDICT (2) If the alarm occurs again, initialize the mutual wait set file in
FILE) MAINTENANCE mode, and then load the interference predict file
occurred.
No. Code
4082 INTERF. PREDICT Operation mistake or (1) Reset the alarm.
DETECT teaching mistake (2)Pull the manipulators away each other.
(3)If this alarm occurred during test run or playback operation,
change the teaching points.
4083 INTERF. PREDICT SUB-Code Connection failure (1) Reset the alarm.
COMM ERROR 0000_0000_0000_00 (2) Check the connection between interference predict server and
10:DX200 received DX200.
an error response
from the interference
predict server.
0001_0000_0000_00
01:No response for
the interference
check start request
was returned from the
interference predict
server.
Alarm list
2
- 651
2 - 652
Alarm list
No. Code
4083 INTERF. PREDICT 0001_0000_0000_00 Connection failure (1) Reset the alarm.
COMM ERROR 10:No response for (2) Check the connection between interference predict server and
the current position DX200.
acquisition request
was returned from the
interference predict
server.
0001_0000_0000_00
11:DX200 received
an error response for
the interference
check start request
from the interference
predict server.
Setting error (1) Reset the alarm.
(2)Check each network setting for the robot controller and the in-
terference predict server.
No. Code
4084 ROBOT SYNC. ER- SubCode Connection failure SubCode
ROR 0000_0000_0000_00 0000_0000_0000_0001
01:No response was 0000_0000_0000_0010
returned from the mu- 0000_0000_0000_0011
tual wait target. 0000_0000_0000_0100
0000_0000_0000_00 0000_0000_0000_0101
10:An error occurred 0000_0000_0011_0000
in the communication 0000_0000_0100_0000
with the mutual wait (1) Reset the alarm.
target during the exe- (2)Check the communication connection with the mutual wait tar-
cution of FN591. get.
0000_0000_0000_00
11:An error occurred
in the communication
with the mutual wait
target during the exe-
cution of FN591.
0000_0000_0000_01
00:FN591 execution
cancel was received
even though FN591
execution notice
hadn't been received
from the mutual wait
target.
0000_0000_0000_01
01:FN591 execution
cancel error from the
mutual wait target
was received.
0000_0000_0001_00
00:The mutual wait
Alarm list
manipulator No. of the
2
FN591 is abnormal.
- 653
0000_0000_0010_00
00:FN591 was doubly
executed.
0000_0000_0011_00
00:FN591 execution
notice from the mutu-
al wait target was re-
2 - 654
Alarm list
No. Code
4084 ROBOT SYNC. ER- 0000_0000_0100_00 Connection failure SubCode
ROR 00:FN591 execution 0000_0000_0000_0001
notice error from the 0000_0000_0000_0010
mutual wait target 0000_0000_0000_0011
was received. 0000_0000_0000_0100
0000_0000_0000_0101
0000_0000_0011_0000
0000_0000_0100_0000
(1) Reset the alarm.
(2)Check the communication connection with the mutual wait tar-
get.
HUB failure SubCode
0000_0000_0000_0001
0000_0000_0000_0010
0000_0000_0000_0011
0000_0000_0000_0100
0000_0000_0000_0101
0000_0000_0011_0000
0000_0000_0100_0000
(2)Check the communication connection with the mutual wait tar-
get.
Setting error SubCode
0000_0000_0000_0001
(2)Check the contents of the mutual wait setting file.
(3)Check the network setting of the mutual wait target.
Operation mistake SubCode
0000_0000_0000_0100
0000_0000_0000_0101
(2)Check if FN591execution is aborted when FN591 execution
has been mutually established. In this case, this alarm may occur
due to communication time lag.
No. Code
Setting error SubCode
0000_0000_0001_0000
(2)Check the mutual wait manipulator No. of the FN591.
Software operation SubCode
error occurred 0000_0000_0010_0000
0000_0000_0011_0000
0000_0000_0100_0000
(INTERF. HISTORY (2) If the alarm occurs again, initialize the mutual wait set file in
FILE) MAINTENANCE mode, and then load the interference history file
occurred.
other (1) Reset the alarm.
occurred.
Alarm list
2
- 655
2 - 656
Alarm list
No. Code
(YSF SET FILE) (2) If the alarm occurs again, initialize the ysf set file in MAINTE-
NANCE mode, and then load the ysf set file saved in the external
memory device.
occurred.
(YSF TMR FILE) (2) If the alarm occurs again, initialize the ysf timer file in MAIN-
TENANCE mode, and then load the ysf timer file saved in the ex-
occurred.
No. Code
(YSF LOGIC FILE) (2) If the alarm occurs again, initialize the ysf logic file in MAINTE-
NANCE mode, and then load the ysf logic file saved in the exter-
nal memory device.
occurred.
4099 DC 24V POWER YPS21 unit failure (1) Reset the alarm.
SUPPLY FAILURE (2) If the alarm occurs again, turn the power OFF then back ON.
(YPS) (3) If the alarm occurs again, replace the following unit.
∙YPS21 unit
Alarm list
2
- 657
2 - 658
Alarm list
No. Code
Short circuit or ground (1) Reset the alarm.
the followings.
∙YFC22-CN219(81,82,92,93 : +24V2U3)
∙YFC22-CN219(83,84,94,95 : 024V2)
∙YIO-CN306,CN307,CN308,CN309
4102 SYSTEM DATA System data changed (1) Reset the alarm.
HAS BEEN (2)Turn the power OFF then back ON before turning ON the SER-
CHANGED VO power supply.
4103 PARALLEL START 1 Sub task being exe- Setting error (1) Reset the alarm.
INSTRUCTION ER- cuted: (2)Check if other JOB has been already executed in the same
ROR Although a JOB is be- task which is used in the PSTART. If same task need to be exe-
ing executed by in- cuted in series, add PWAIT to confirm if the previous task end.
structed sub task, an
attempt was made to
execute another JOB
by the sub task.
No. Code
2 Group axis being Setting error (1) Reset the alarm.
used: (2)Check if the control group of the JOB which is used in the
The JOB operated by PSTART has been already executed in other task. If the same
another sub task uses group need to be executed in series, add PWAIT to confirm if the
the same group axis. other task end.
3 Multiple start of same Setting error (1) Reset the alarm.
JOB: (2)Check if the JOB which is used in the PSTART has been al-
The JOB that was ready executed in other task. If the same JOB need to be execut-
tried to be started was ed in series, add PWAIT to confirm if the other task end.
executed by another
sub task.
4 Unregistered master Setting error (1) Reset the alarm.
JOB: (2)Check the following settings.
Although the master ∙The master JOB of the subtask is registered
JOB was not regis-
tered, an attempt was
made to execute
PSTART SUB (JOB
name omitted).
Alarm list
2
- 659
2 - 660
Alarm list
No. Code
5 Synchronization in- Setting error (1) Reset the alarm.
struction error: (2)Check the following settings.
When restarted by ∙The JOB to be started
PSTART, synchroni- ∙The execution timing for start command
zation instruction sta-
tus of the sub task
under interruption
was different from the
status to restart.
6 Stopped by an alarm: Setting error (1) Check the following settings.
An attempt was made ∙Alarm occurrence status
to start the sub task
which is stopped by
an alarm.
7 Synchronization task Setting error (1) Reset the alarm.
specification of SYNC (2)Check the following setting.
instruction omit error ∙Synchronization task specification of SYNC instruction
8 The task is specified Setting error (1) Reset the alarm.
by synchronization (2)Check the following setting.
task of SYNC instruc- ∙Synchronization task specification of SYNC instruction
tion. It is not possible to set the same task to the SYNC as the sub task
of PSTART instruction.
No. Code
9 I/O jog being execut- Setting error (1) Reset the alarm.
ed (2)Check the following setting.
∙I/O jog executing status
Complete the I/O jog execution, and then restart.
10 Separate group axis Setting error (1) Reset the alarm.
being used (2)Check the following setting.
∙I/O jog executing status
Complete the I/O jog executing status, and then restart.
11 The SERVO power Setting error (1) Reset the alarm.
supply is OFF. (2)Check the following setting.
∙SERVO power
Turn ON SERVO power.
12 Twin synchronous Setting error (1) Reset the alarm.
task ID error (2)Check the following setting.
∙Twin synchronous task specification of SYNC instruction
Alarm list
2
- 661
2 - 662
Alarm list
No. Code
16 PSTART instruction is Setting error (1) Reset the alarm.
the old specification. (2)Check the following settings.
∙The specifications of PSTART instruction
Register the PSTART instruction as new specification.
17 PWAIT instruction is Setting error (1) Reset the alarm.
the old specification. (2)Check the following settings.
∙The specifications of PWAIT instruction
Register the PWAIT instruction as new specification.
18 Sub task to be set Setting error (1) Reset the alarm.
PSTART has been al- (2)Check the following settings.
ready executed.
∙The subtask is completed by the PWAIT instruction.
∙The execution timing for start command
19 An attempt was made Setting error (1) Reset the alarm.(2) Check the status of IOSPDCTRL opera-
to start up the control tion setting. The control group of which setting status is "VALID"
group where IO cannot be started up by a JOB.
speed control is acti- (3) Modify the JOB so as not to start up the control group in which
vated by a JOB. IO speed control is activated.
No. Code
4104 WRONG EXECU- Sub Code1 to 245: Setting error * Refer to the instruction manual for Data Transmission Function
TION OF LOAD Signifies the data for details.
INST transmission error.
TION OF SAVE Signifies the data for details.
TION OF DELETE Signifies the data for details.
4107 OUT OF RANGE Sub Code: Signifies Setting error (1) Reset the alarm.
(ABSO DATA) the axis in which the (2)Check the following settings.
alarm occurred ∙Move the manipulator or station to the zero position by the axis
operation and check the home position alignment marks (the ar-
row).
Blown fuse If AL1962 "EAXA21 board failure" occurred simultaneously with

this alarm,
Replace the fuse(F1) in the EAXA21 board.
Alarm list
2
- 663
2 - 664
Alarm list
No. Code
4109 DC 24V POWER 0000_0000_0000_00 Connection failure (1) Reset the alarm.
SUPPLY FAILURE 01: Detector circuit er- (2) If the alarm occurs again, check the connection and inserting
(I/O) ror. state of the following cables and connectors.
0000_0000_0000_00 Check the insertion and connection of the followings.
10: Fuse blown (YIO ∙CN303 of YIO board
board) ∙Fuse (blown) of YIO board
0000_0000_0000_00 ∙The communications cable for the I/O module
11: External 24V pow-
er supply error.
Voltage error (1) Reset the alarm.
(2) If the alarm occurs again, Check the 24V external power sup-
ply. If abnormal, replace the 24V external power supply.
YIO board failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the YIO board. Save the
CMOS.BIN before replacing the board to be safe.
Short circuit or ground (1) Reset the alarm.
the followings.
∙YFC22-CN219(81,82,92,93 : +24V2U3)
∙YFC22-CN219(83,84,94,95 : 024V2)
∙YIO-CN306,CN307,CN308,CN309
4110 SHOCK SENSOR Shock sensor activat- Shock sensor is activated. Select "OVERRUN&SHOCK SEN-
ACTION ed SOR" under sub menu "ROBOT" to reset the sensor. After that,
perform avoidance movement by jog operation.
No. Code
Fuse failure (1) Reset the alarm.
(2) If the alarm occurs again, check the connection of the fuse of
YSF22 board and then turn the power ON again.
Connection failure (1) Reset the alarm.
·YSF22 board-CN214, CN215
·EAXA21 board CN512
YSF22 board failure (1) Reset the alarm.
EAXA21 board failure (1) Reset the alarm.
4112 DATA SENDING 1 Retry over of NAK Communication error (1) Reset the alarm.
ERROR (2) If the alarm occurs again, check the communication setting
and communication wiring is correct.
2 Retry over for timeout Communication error (1) Reset the alarm.
in timer A (2) If the alarm occurs again, check the communication setting
Alarm list
2
- 665

2 - 666
Alarm list
No. Code
3 Retry over for mutual Communication error (1) Reset the alarm.
response error (2) If the alarm occurs again, check the communication setting
4113 DATA RECEIVING 1 Reception timeout Communication error (1) Reset the alarm.
ERROR (timer A) (2) If the alarm occurs again, check the communication setting
2 Reception timeout Communication error (1) Reset the alarm.
(timer B) (2) If the alarm occurs again, check the communication setting
3 Heading length is too Setting error (1) Reset the alarm.
short. (2) If the alarm occurs again, send EOT code to release the data
link and then check that the sending side data is correctly set.
(3)Check that the communication setting is correct.
4 Heading length is too Setting error (1) Reset the alarm.
long. (2) If the alarm occurs again, send EOT code to release the data
No. Code
5 The header No. error Setting error (1) Reset the alarm.
(2) If the alarm occurs again, send EOT code to release the data
6 The text length ex- Setting error (1) Reset the alarm.
ceeded 256 charac- (2) If the alarm occurs again, send EOT code to release the data
ters. link and then check that the sending side data is correctly set.
7 Illegal data received Setting error (1) Reset the alarm.
(2) If the alarm occurs again, send EOT code to release the data
4114 TRANSMISSION 1 Overrun error Communication error (1) Reset the alarm.
HARDWARE ER- (2) If the alarm occurs again, check the communication setting
ROR and communication wiring is correct.
2 Parity error Communication error (1) Reset the alarm.
(2) If the alarm occurs again, check the communication setting
Alarm list
2
- 667
2 - 668
Alarm list
No. Code
3 Framing error Communication error (1) Reset the alarm.
4 Transmission timeout Communication error (1) Reset the alarm.
(timer A) (2) If the alarm occurs again, check the communication setting
5 Transmission timeout Communication error (1) Reset the alarm.
(timer B) (2) If the alarm occurs again, check the communication setting
4115 TRANSMISSION 1 Received EOT while Communication error (1) Reset the alarm.
SYSTEM BLOCK waiting ACK. (2) If the alarm occurs again, check the setting of communication
or transmission side data is correctly set.
2 Received EOT while Communication error (1) Reset the alarm.
waiting ENQ. (2) If the alarm occurs again, check the setting of communication
No. Code
3 Received EOT before Communication error (1) Reset the alarm.
last block reception. (2) If the alarm occurs again, check the setting of communication
4 Received codes other Communication error (1) Reset the alarm.
than EOT after last (2) If the alarm occurs again, check the setting of communication
block reception. or transmission side data is correctly set.
4116 TRANSMISSION 1 Transmission data Communication error (1) Reset the alarm.
SYSTEM ERROR contents error (2) If the alarm occurs again, check the setting of communication
100 Trans error or proto- Communication error (1) Reset the alarm.
col error (2) If the alarm occurs again, check the setting of communication
4117 BRAKE POWER 1 The EAXA21 / Connection failure (1) Reset the alarm.
ERROR EAXB21 board # (2) If the alarm occurs again, check the brake connection if there
Alarm list
1generates an alarm. is a ground fault or short circuit.
2
- 669
2 - 670
Alarm list
No. Code
(2) If the alarm occurs again, check the brake connection and then
replace the fuse.
2 The EAXA21 / Connection failure (1) Reset the alarm.
EAXB21 board # 2 (2) If the alarm occurs again, check the brake connection if there
generates an alarm. is a ground fault or short circuit.
replace the fuse.
replace the fuse.
replace the fuse.
No. Code
replace the fuse.
EAXB21 board # (2) If the alarm occurs again, check the brake connection if there
replace the fuse.
replace the fuse.
Alarm list
2
- 671
2 - 672
Alarm list
No. Code
replace the fuse.
4118 FAN CIRCUIT PRO- 1 The EAXA21 / Connection failure (1) Reset the alarm.
TECTOR TRIPPED EAXB21 board # (2) If the alarm occurs again, check fan power line if there is a
1generates an alarm. ground fault or short circuit.
(2)Check the following settings.
∙(After cancellation of the short-circuit and ground fault) Turn ON
the circuit protector.
Cooling fan failure (1) Reset the alarm.
(2)Replace the in-panel cooling fan.
Check the connection between manipulator and servo board.
* Move the manipulator to safety place in teach mode.
EAXB21 board # 2 (2) If the alarm occurs again, check fan power line if there is a
generates an alarm. ground fault or short circuit.
No. Code
Alarm list
2

- 673

2 - 674
Alarm list
No. Code
No. Code
4119 FAN ERROR Sub Code 1 to 4: Sig- Cooling fan failure Replace the YPS21 unit.
nifies the YSF21
Alarm list
(IN CONTROL
2
BOX) board No. in which

- 675
the alarm occurred

2 - 676
Alarm list
No. Code
4121 COOLING FAN1 Sub Code 1to 8: Sig- Cooling fan failure (1) Reset the alarm.
ERROR nifies the EAXA/ (2)Replace the cooling fan of manipulator.
EAXB board No. in Check the wiring from a manipulator to a servo board.
which the alarm oc- * Move the manipulator to the safe position in the teach mode.
curred
4122 COOLING FAN2 Sub Code 1to 8: Sig- Cooling fan failure (1) Reset the alarm.
curred
4123 COOLING FAN3 Sub Code 1to 8: Sig- Cooling fan failure Replace the cooling fan of manipulator.
ERROR nifies the EAXA/ Check the wiring from a manipulator to a servo board.
EAXB board No. in * Move the manipulator to the safe position in the teach mode.
which the alarm oc-
curred
4124 WRONG EXECU- 1 The specified file Setting error (1) Reset the alarm.
TION OF VISION number is incorrect. (2)Check the following settings.
INST ∙File No.
Specify the correct file number.
No. Code
2 The specified file set Setting error (1) Check the following settings.
value is incorrect. ∙File set value
Specify the set value.
3 Calibration could not Setting error (1) Reset the alarm.
be executed. (2)Check the following settings.
∙The robot coordinate data or the pixel coordinate data used for
the calibration
∙The user variable number in the calibration file
Set the robot coordinate data and the pixel coordinate data used
for the calibration to the user variable.
Correctly set the user variable number in the calibration file.
4 The communication Setting error (1) Reset the alarm.
port for the vision sys- (2)Check the following settings.
tem could not be ini- ∙The Parameter for vision communication port.
tialized. (3)Set the correct parameters for the communication port.
5 Time-out occurred Setting error (1) Reset the alarm.
during data transmis- (2)Check the following settings.
sion. ∙The communication setting of vision system
Alarm list
2
- 677
2 - 678
Alarm list
No. Code
(2) If the alarm occurs again, check the connection of the following
cables.
∙Cable between vision system and DX200 system
6 Time-out occurred Setting error (1) Reset the alarm.
during data reception. (2)Check the following settings.
∙The communication setting of vision system
cables.
7 The data received Setting error (1) Reset the alarm.
from the vision sys- (2)Check the following settings.
tem is incorrect. ∙The communication setting of vision system
∙The detection setting of vision system
cables.
8 The pixel coordinates Setting error (1) Reset the alarm.
value was not able to (2)Check the following settings.
be converted into the ∙The communication setting of vision system
robot coordinates. ∙Calibration file for use
No. Code
9 Failed to read or write Setting error (1) Reset the alarm.
the position type vari- (2)Check the following settings.
able (P variable). ∙Usage status of the specified position type variable
Don't use the specified positional type variable at the same time
in other JOBs.
10 Use memory is lack- Software operation (1) Reset the alarm, and then try again.
ing and the area could error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
not be obtained. NANCE mode, and then contact your YASKAWA representative
11 The setting value of Setting error (1) Reset the alarm.
measurement item (2)Correct the setting value of a measurement item.
(FT) is incorrect.
12 The data for the vision Software operation (1) Reset the alarm, and then try again.
execution command error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
is incorrect. NANCE mode, and then contact your YASKAWA representative
48 The number of wait- Software operation (1) Reset the alarm, and then try again.
ing commands sent error occurred (2)Check the command sent by Vision sensor
by Vision sensor ex- (3) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ceeded the limit. NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 679
2 - 680
Alarm list
No. Code
4125 TRANS ERROR 1 File access error Communication error (1) Reset the alarm.
(WELD PULSE (2) If the alarm occurs again, check the communication setting
COND) and communication wiring is correct.

2 File data error Communication error (1) Reset the alarm.
(2) If the alarm occurs again, check the setting of communication
or file data is correctly set.
3 Calibration execution Communication error (1) Reset the alarm.
error (2) If the alarm occurs again, check the setting of communication
4 YCP21 port initialize Communication error (1) Reset the alarm.
error (2) If the alarm occurs again, check the setting of communication
or YCP21 port is correctly set.
5 Time-out occurred Communication error (1) Reset the alarm.
during data transmis- (2) If the alarm occurs again, check the communication setting
sion. and communication wiring is correct.
No. Code
6 Time-out occurred Communication error (1) Reset the alarm.
during data reception. (2) If the alarm occurs again, check the communication setting
7 Receive data error Communication error (1) Reset the alarm.
8 Coordinate conver- Communication error (1) Reset the alarm.
sion error (2) If the alarm occurs again, check the setting of communication
9 Position type variable Communication error (1) Reset the alarm.
access error (2) If the alarm occurs again, check the setting of communication
10 Failed to store the ar- Software operation (1) Reset the alarm, and then try again.
ea. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
11 Measurement item Communication error (1) Reset the alarm.
Alarm list
setting error (2) If the alarm occurs again, check the setting of communication
2

- 681
2 - 682
Alarm list
No. Code
12 Tag setting error Communication error (1) Reset the alarm.
(2) If the alarm occurs again, check the setting of communication
48 Wait status table Communication error (1) Reset the alarm.
FULL (2) If the alarm occurs again, check the setting of communication
4126 CANNOT EXE- 1 System error Software operation (1) Reset the alarm, and then try again.
CUTE AUTO PMT error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2 PBOX cannot be edit- Setting error (1) Reset the alarm.
ed. (2)Check the following setting.
∙I/O status of the edit prohibit signal
The edit prohibit signal cannot input.
3 The source JOB can- Setting error (1) Reset the alarm.
not be edited. (2)Check the following setting.
∙The prohibit status of source JOB
If the source JOB is protected from editing, it cannot be edited.
No. Code
4 The converted JOB Setting error (1) Reset the alarm.
cannot be edited. (2)Check the following settings.
∙The prohibit status of converted JOB
If the converted JOB is protected from editing, it cannot be edited.
5 The memory area for Software operation (1) Reset the alarm.
JOB area is insuffi- error occurred (2)If the error occurs again, delete unused JOBs.
cient. (3)If the error occurs again after the previous measures were ex-
ecuted, initialize the JOB file in the MAINTENANCE mode, and
then load the saved JOB file. In that case, delete the unused
JOBs.
(4)If the error occurs again though the previous measures were
6 The source JOB is not Setting error (1) Check the following settings.
exist. ∙Presence of the specified source JOB
The JOB which does not exist cannot be set to the source JOB.
Alarm list
2
- 683
2 - 684
Alarm list
No. Code
7 The memory area for Software operation (1) Reset the alarm.
position data of the error occurred (2)when the error occurs again, if there is an unnecessary teach-
JOB is insufficient. ing position, delete it.
(3)If the error occurs again after the previous measures were ex-
JOBs.
8 The JOB under exe- Setting error (1) Reset the alarm.
cution is specified as (2)Check the following settings.
the conversion JOB. ∙Execution status of the source JOB
∙Execution status of the converted JOB
The JOB under execution is specified for the source / converted
JOB. Execute conversion operation after ending the JOB execu-
tion.
4127 U-AXIS TIMING Sub Code: XY Belt blown (1) Reset the alarm.
BELT BLOWN X: Servo board (2)Replace the timing belt of the manipulator.
(SV#X) Check the connection between manipulator and servo board.
Y: Power-ON unit * Move the manipulator to safety place in teach mode.
(TU#Y)
4128 ARC MONITOR ER- 1 Monitor ON was exe- Setting error (1) Reset the alarm.
ROR cuted in Monitor ON. (2)Check the following settings.
∙Arc monitor ON status
Arc monitor ON cannot be executed during arc monitor ON.
No. Code
10 Analog CH specifica- Setting error (1) Reset the alarm.
tion or register specifi- (2)Check the following settings.
cation is not exist. ∙Analog CH specification
∙Register specification
Analog CH specification or register specification is required.
11 The number of sam- Setting error (1) Reset the alarm.
plings exceeds the (2)Check the following settings.
set value. ∙The number of samplings
The number of sampling is too much. Confirm the monitor ON/
OFF status.
4129 TWIN DRIVE OUT Sub Code: Corre- Setting error (1) Reset the alarm.
OF RANGE sponding master- (2)Check the following settings.
(START) axes and slave-axes ∙Pulse error of the master-axes and the slave-axes
are displayed by the Switch to independent movement mode so that the pulse error of
bit. the master-axes and the slave-axes is settled within allowable
range.
Alarm list
2
- 685
2 - 686
Alarm list
No. Code
4130 NETWORK APPLI- 1 An error occurred Software operation (1) Turn the power OFF then back ON.
CATION PROCESS when the notification error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ERROR of the APP task re-ini- NANCE mode, and then contact your YASKAWA representative
tialization was pro- about occurrence status (operating procedure).
cessed in the
Ethernet function.
2 An error occurred Software operation (1) Turn the power OFF then back ON.
when the re-initializa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion response was re- NANCE mode, and then contact your YASKAWA representative
ceived in the Ethernet about occurrence status (operating procedure).
function.
3 The incomplete task Software operation (1) Turn the power OFF then back ON.
of re-initialization was error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
unsuccessfully com- NANCE mode, and then contact your YASKAWA representative
pleted in the Ethernet about occurrence status (operating procedure).
function.
No. Code
when the semaphore error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for re-initialization NANCE mode, and then contact your YASKAWA representative
was received in the about occurrence status (operating procedure).
Ethernet function.
when the re-initializa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion mail was sent in NANCE mode, and then contact your YASKAWA representative
the exclusive process error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
of the storage area NANCE mode, and then contact your YASKAWA representative
control table of the about occurrence status (operating procedure).
Ethernet function.
Alarm list
2
- 687
2 - 688
Alarm list
No. Code
7 Time-out occurred in Software operation (1) Turn the power OFF then back ON.
the re-initialization re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
sponse receiving pro- NANCE mode, and then contact your YASKAWA representative
cess of the Ethernet about occurrence status (operating procedure).
function.
the re-initialization re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
sponse receiving pro- NANCE mode, and then contact your YASKAWA representative
function.
9 Receiving data size Software operation (1) Turn the power OFF then back ON.
error occurred in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
re-initialization re- NANCE mode, and then contact your YASKAWA representative
sponse receiving pro- about occurrence status (operating procedure).
cess of the Ethernet
function.
No. Code
mail receiving pro- NANCE mode, and then contact your YASKAWA representative
function.
function.
the FTP client task error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
function.
Alarm list
2
- 689
2 - 690
Alarm list
No. Code
40 Illegal e-mail data Software operation (1) Turn the power OFF then back ON.
were received in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Web server task of NANCE mode, and then contact your YASKAWA representative
FTP server task of the NANCE mode, and then contact your YASKAWA representative
FTP client task of the NANCE mode, and then contact your YASKAWA representative
the data size written error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
to PCI of the Ethernet NANCE mode, and then contact your YASKAWA representative
No. Code
when the request to error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
write PCI data was re- NANCE mode, and then contact your YASKAWA representative
ceived in the Ethernet about occurrence status (operating procedure).
function.
52 The request of the un- Software operation (1) Turn the power OFF then back ON.
defined transmission error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
was received in the NANCE mode, and then contact your YASKAWA representative
the transmission re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
quest of the Ethernet NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 691

2 - 692
Alarm list
No. Code
54 The transmission re- Software operation (1) Turn the power OFF then back ON.
quest without data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
quest of illegal data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
length was received NANCE mode, and then contact your YASKAWA representative
in the Ethernet func- about occurrence status (operating procedure).
tion.
60 Illegal mail data ware Software operation (1) Turn the power OFF then back ON.
received in the DNS error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
task of the Ethernet NANCE mode, and then contact your YASKAWA representative
61 Illegal mail data was Software operation (1) Turn the power OFF then back ON.
transmitted in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
DNS task of the NANCE mode, and then contact your YASKAWA representative
No. Code
storing process of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
memory which is NANCE mode, and then contact your YASKAWA representative
used in the Ethernet about occurrence status (operating procedure).
function.
the buffer for request error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
to write PCI getting NANCE mode, and then contact your YASKAWA representative
process of the Ether- about occurrence status (operating procedure).
net function.
200 The socket of the Software operation (1) Turn the power OFF then back ON.
Ethernet function was error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
full and was not able NANCE mode, and then contact your YASKAWA representative
to create a socket. about occurrence status (operating procedure).
Alarm list
2
- 693
2 - 694
Alarm list
No. Code
the semaphore of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
socket control table of NANCE mode, and then contact your YASKAWA representative
4131 UDP PROCESS 1 An error occurred in Software operation (1) Turn the power OFF then back ON.
ERROR the creation of receiv- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing socket during the NANCE mode, and then contact your YASKAWA representative
UDP process of the about occurrence status (operating procedure).
Ethernet function.
the creation of trans- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mission socket during NANCE mode, and then contact your YASKAWA representative
the UDP process of about occurrence status (operating procedure).
No. Code
3 Illegal data were re- Software operation (1) Turn the power OFF then back ON.
ceived in the UDP error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
process of the Ether- NANCE mode, and then contact your YASKAWA representative
net function. about occurrence status (operating procedure).
4 Transmission error Software operation (1) Turn the power OFF then back ON.
occurred in the UDP error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
process of the Ether- NANCE mode, and then contact your YASKAWA representative
net function. about occurrence status (operating procedure).
5 The SELECT opera- Software operation (1) Turn the power OFF then back ON.
tion was not success- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fully completed in the NANCE mode, and then contact your YASKAWA representative
Ethernet function.
Alarm list
2
- 695

2 - 696
Alarm list
No. Code
100 The re-initialization Software operation (1) Turn the power OFF then back ON.
notification of illegal error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
data length was re- NANCE mode, and then contact your YASKAWA representative
ceived in the UDP about occurrence status (operating procedure).
net function.
101 The re-initialization Software operation (1) Turn the power OFF then back ON.
notification of illegal error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
data was received in NANCE mode, and then contact your YASKAWA representative
the UDP process of about occurrence status (operating procedure).
102 The PCI write process Software operation (1) Turn the power OFF then back ON.
was not successfully error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
completed in the UDP NANCE mode, and then contact your YASKAWA representative
net function.
No. Code
length was received NANCE mode, and then contact your YASKAWA representative
in the UDP process of about occurrence status (operating procedure).
Ethernet function.
4132 TCP PROCESS ER- 1 The socket table was Software operation (1) Turn the power OFF then back ON.
ROR not successfully cre- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ated in the TCP pro- NANCE mode, and then contact your YASKAWA representative
function.
Alarm list
2
- 697
2 - 698
Alarm list
No. Code
the process of the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
TCP server initializa- NANCE mode, and then contact your YASKAWA representative
tion of the Ethernet about occurrence status (operating procedure).
function.
connection detecting error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
process of TCP serv- NANCE mode, and then contact your YASKAWA representative
er of the Ethernet about occurrence status (operating procedure).
function.
the connection detec- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion checking process NANCE mode, and then contact your YASKAWA representative
of TCP server of the about occurrence status (operating procedure).
Ethernet function.
No. Code
4134 COOLING FAN SET 0 Setting error (1) Reset the alarm.
ABNORMAL (2)Check the following settings.
∙Confirm parameter SVS and S2C for the cooling fan.
∙Open the front panel to refer to the parameter list on the back.
4135 TOYOPUC RUN 0 Setting error (1) Reset the alarm.
STOP (2)Check the following settings.
∙Use the PCwin, etc. to run the TOYOPUC.
4136 TOYOPUC MAJOR 0 The PCI bus state of Setting error (1) Reset the alarm.
ERROR the TOYOPUC turns (2)Check the following settings.
to "ER". ∙OFF/ON status of the remote
∙OFF/ON status of the power supply
Turn OFF and back ON the remote or power supply.
4137 WRONG EXECU- 1 Alarm code specifica- Setting error (1) Reset the alarm.
TION OF SETUALM tion error (2)Check the following settings.
INST ∙Alarm code
Specify the alarm in the range 8000 to 8999.
2 Task specification er- Setting error (1) Reset the alarm.
ror (2)Check the following settings.
Alarm list
2
∙Task specification
- 699
Specify the task in the range 0 to 15.

2 - 700
Alarm list
No. Code
3 Motion mode specifi- Setting error (1) Reset the alarm.
cation error (2)Check the following settings.
∙Motion mode specification
Set the motion mode to 0 or 1.
4 Alarm number error Software operation (1) Turn the power OFF then back ON.
4138 WRONG EXECU- Connection failure (1) Reset the alarm.
TION OF SVON (2)Check the following settings.
INST ∙Short-circuit the external servo ON (EXSVON) of MXT terminal
block.
∙The concurrent I/O signal #80031 (servo ON condition1) ON
∙The concurrent I/O signal #80033 (servo ON condition2) ON
No. Code
4139 WRONG EXECU- Setting error (1) Reset the alarm.
TION OF PRINT (2)Check the following settings.
INST ∙The setting of the PRINT output conversion spec (character
string specification)
If there is no problem in the setting, delete the corresponding
PRINT instruction and register again.
4140 WRONG EXECU- 1 DIALOG instruction Setting error (1) Reset the alarm.
TION OF DIALOG control error (2)Check the following settings.
INST ∙The tag setting of DIALOG instruction
If no fault is found, delete corresponding DIALOG instruction, and
then register again.
2 Messages and but- Setting error (1) Reset the alarm.
tons are not regis- (2)Check the following settings.
tered. ∙The information of DIALOG instruction message and button
3 Buttons are not regis- Setting error (1) Reset the alarm.
tered. (2)Check the following settings.
∙The information of DIALOG instruction button
Alarm list
2
- 701
2 - 702
Alarm list
No. Code
4141 SNTP ERROR 1 The error on setting of Software operation (1) Turn the power OFF then back ON.
time difference value error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
occurred in the SNTP NANCE mode, and then contact your YASKAWA representative
net function.
2 The error on setting of Software operation (1) Turn the power OFF then back ON.
time-out value oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
curred in the SNTP NANCE mode, and then contact your YASKAWA representative
net function.
3 The error on setting of Software operation (1) Turn the power OFF then back ON.
reference interval val- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ue occurred in the NANCE mode, and then contact your YASKAWA representative
SNTP process of the about occurrence status (operating procedure).
Ethernet function.
No. Code
4 The IP address error Setting error (1) Check the following settings.
occurred in the SNTP ∙The IP address of the SNTP server
process of the Ether- ∙The DHCP server operation (If the DHCP is used)
net function. ∙The network status (If the DHCP is used)
5 Time-out occurred in Setting error (1) Check the following settings.
the SNTP process ∙The SNTP server operation
of the Ethernet func- ∙The network status
tion.
6 The server time is not Setting error (1) Check the following settings.
synchronized in the ∙The SNTP server operation
SNTP process of the ∙The network status
Ethernet function.
Alarm list
2
- 703
2 - 704
Alarm list
No. Code
7 The SNTP process of Setting error Use the server compliant with the SNTP version 3.
the Ethernet function
is not compliant with
the version that the
server sent.
8 Illegal parameters Setting error (1) Check the following settings.
were found in the ∙SNTP setting
SNTP process of the
Ethernet function.
No. Code
9 The SNTP process of Setting error (1) Check the following settings.
the Ethernet function ∙SNTP setting
was not successfully
completed.
10 The name resolution Setting error (1) Check the following settings.
error occurred in the ∙The IP address of the SNTP server
SNTP process of the ∙The DHCP server operation *If the DHCP is used
Ethernet function. ∙The network status *If the DHCP is used
11 The error on getting of Setting error (1) Check the following settings.
server address oc- ∙The DHCP server operation
curred in the SNTP ∙The network status
Alarm list
2
- 705
net function.
2 - 706
Alarm list
No. Code
12 The server setting is Setting error (1) Check the following settings.
incorrect in the SNTP ∙SNTP setting
net function (for future
use).
4144 FUNCTION EXE- 0 FN591 was executed Teaching failure (1) Reset the alarm.
CUTION ERROR 11 or more times in a (2)Don't set FN593 11 or more times in a row. Review the teach-
row. ing.
4145 RELAY NO. ERROR 0 There is invalid relay Setting error (1)Save the CMOS.BIN in MAINTENANCE mode, and then con-
(LADDER PRO- number in the SYS- tact your YASKAWA representative about occurrence status (op-
GRAM) TEM LADDER. erating procedure).
No. Code
1 There is invalid relay Setting error (1)Set the security to management mode and compile the ladder
number in the USER program. If any error occurs, modify the invalid relay number to
LADDER. complete the compiling.
Valid range
General Input:00010 to 05127
General Output:10010 to 15127
External Input:20010 to 25127
External Output:30010 to 35127
Specific Input:40010 to 41607
Specific Output:50010 to 53007
I/F Panel Input:60010 to 60647
Auxiliary Relay:70010 to 79997
Control Input:80010 to 81287
Pseudo Input:82010 to 82207
Network Input:27010 to 29567
Network output:37010 to 39567
4146 ENCDR PWR CIR- 1 SUB-Code 1to 8: Sig- Incorrect setting (1) Check the following settings.
CUIT PROTECTOR nifies the EAXA/ ∙Turn ON the circuit protector.
TRIP EAXB board No. in
which the alarm oc-
curred
fault (2) If the alarm occurs again even after turning ON the circuit pro-
tector, check encoder power line if there is a ground fault or short
circuit.
Unit failure Replace the motor or encoder to which the power is supplied.
Parts failure Replace the circuit protector.
Alarm list
2

- 707

2 - 708
Alarm list
No. Code
2 SUB-Code 1to 8: Sig- Incorrect setting (1) Check the following settings.
nifies the EAXA/ ∙Turn ON the circuit protector.
EAXB board No. in
which the alarm oc-
curred
circuit.
EAXB board No. in
which the alarm oc-
curred
circuit.
No. Code
EAXB board No. in
which the alarm oc-
curred
circuit.
EAXB board No. in
which the alarm oc-
curred
circuit.
Alarm list
2
- 709
2 - 710
Alarm list
No. Code
EAXB board No. in
which the alarm oc-
curred
circuit.
EAXB board No. in
which the alarm oc-
curred
circuit.
No. Code
EAXB board No. in
which the alarm oc-
curred
circuit.
4147 USER COORD Data error (1) Reset the alarm.
EDIT ERROR (2) If the alarm occurs again, initialize the user coordinates file in
MAINTENANCE mode, and then load the user coordinates file
4148 TRACELV ERROR Trace level value is Software operation (1) Turn the power OFF then back ON.
abnormal. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4149 TRACE ERROR 0 Trace data is abnor- Software operation (1) Turn the power OFF then back ON.
mal. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 711
2 - 712
Alarm list
No. Code
1 Time stamp value is Software operation (1) Turn the power OFF then back ON.
2 Trace level value is Software operation (1) Turn the power OFF then back ON.
3 Abnormal variable is Setting error (1) Check the following setting;
specified. ·TRACE instruction.
4 Exceeded the maxi- Trace error Execute TRACESAVE or TRACERST.
mum trace number.

4152 TIMING BELT 1 The EAXA21 / Manipulator timing Move the robot in TEACH mode to the position where there is no
BLOWN EAXB21 board # 1 belt is blown. torque on the driving belt.
generates an alarm. (1) Check the timing belt tension.
(2) Check the wiring between robot and the machine safety unit
(YSF22 board).
No. Code
2 The EAXA21 / Manipulator timing Move the robot in TEACH mode to the position where there is no
EAXB21 board # 2 belt is blown. torque on the driving belt.
(YSF22 board).
(YSF22 board).
(YSF22 board).
Alarm list
2
(YSF22 board).
- 713
2 - 714
Alarm list
No. Code
(YSF22 board).
(YSF22 board).
(YSF22 board).
4153 COOLING UNIT 1 The EAXA21 / Unit failure Refer to the instruction manuals for the cooling unit in use.
ERROR EAXB21 board # 1
generates an alarm.
No. Code
2 The EAXA21 / Unit failure Refer to the instruction manuals for the cooling unit in use.
EAXB21 board # 2
generates an alarm.
EAXB21 board # 3
generates an alarm.
EAXB21 board # 4
generates an alarm.
EAXB21 board # 5
generates an alarm.
EAXB21 board # 6
Alarm list
2
generates an alarm.
- 715
2 - 716
Alarm list
No. Code
EAXB21 board # 7
generates an alarm.
EAXB21 board # 8
generates an alarm.
4154 COOLING FAN ER- 1 The EAXA21 / Connection failure (1) Reset the alarm.
ROR (DOOR) EAXB21 board # 1 (2)Check the connection and insertion of the cable and connector
generates an alarm. for the cooling fan.
Power voltage drop (1) Reset the alarm.
(2)Check if the primary power voltage is normal.
Dirt (1) Reset the alarm.
(2)Clean the cooling fan and the fan duct.
Unit failure (1) Reset the alarm.
(2)Replace the malfunctioning cooling fan with a new one.
EAXB21 board # 2 (2)Check the connection and insertion of the cable and connector
No. Code
Alarm list
2

- 717
2 - 718
Alarm list
No. Code
No. Code
4155 COOLING FAN ER- 1 The EAXA21 / Connection failure (1) Reset the alarm.
ROR (BACKSIDE) EAXB21 board # 1 (2)Check the connection and insertion of the cable and connector
(2)Check the connection and insertion of the cable and connector
for the cooling fan.
Alarm list
2

- 719

2 - 720
Alarm list
No. Code
EAXB21 board # 2
generates an alarm.
(2)Check the connection and insertion of the cable and connector
for the cooling fan.
No. Code
Alarm list
2

- 721
2 - 722
Alarm list
No. Code

No. Code
4156 COOLING FAN4 SUB-Code 1to 8: Sig- Cooling fan failure (1) Reset the alarm.
curred
4157 COOLING FAN5 SUB-Code 1to 8: Sig- Cooling fan failure (1) Reset the alarm.
curred
4160 FUSE BLOWN SUB-Code: Signifies Loose fuse Check the status of circuit protector.
(EARTH DETEC- the YFL21 unit num-
TOR) ber in which the alarm
occurred.
Blown fuse Replace the fuse (F1) in the YFL21 unit.
Parts failure Replace the fuse (F1) in the YFL21 unit.
Unit failure (YFL21) (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YFL21 board.
Alarm list
2
- 723
2 - 724
Alarm list
No. Code
4161 CIRCUITTRIPPED SUB-Code: Signifies Incorrect setting (1) Reset the alarm.
(QF157) the YFL21 board (2) If the alarm occurs again, check the connection and inserting
number in which the state of the following cables and connectors.
alarm occurred. ∙CN609 in the YPU unit.
∙No.1,2 of CN806 in the YFL unit.
·No.A3,B3 of CN806 in the YFL21 board.
board failure (YFL21) (1) Turn the power OFF then back ON.
4162 CIRCUIT TRIPPED SUB-Code: Signifies Incorrect setting Check the status of circuit protector.
(QFVIN) the YFL21 board
number in which the
alarm occurred.
fault (2) If the alarm occurs again, check a short circuit or ground fault
has not occurred in external 24V power line.
Rated capacity over Check the capacity of external 24V power supply
Board failure Replace the External 24V power supply board.
No. Code
Board failure (YFL21) (1) Turn the power OFF then back ON.
(QFVOUT) the YFL21 board
number in which the
alarm occurred.
Rated capacity over Check the capacity of external 24V power supply
Board failure Replace the External 24V power supply unit.
Unit failure (YFL) (1) Turn the power OFF then back ON.
(QFDS1/QFPS2) the YFL21 board
number in which the
alarm occurred.
Alarm list
2
- 725
2 - 726
Alarm list
No. Code
has not occurred in D-NET line.
Rated capacity over Check the capacity of D-NET 24V power supply.
Board failure Replace the D-NET 24V power supply board.
Board failure (YFL) (1) Turn the power OFF then back ON.
4165 CIRCUIT TRIPPED SUB-Code: Signifies Incorrect setting Check if the circuit protector is turned on.
(QFDS2) the YFL21 board
number in which the
alarm occurred.
has not occurred in D-NET line.
Rated capacity over Check the capacity of D-NET 24V power supply.
Board failure Replace the D-NET 24V power supply board.
No. Code
4166 CIRCUIT TRIPPED SUB-Code: Signifies Incorrect setting Check if the circuit protector is turned on.
(QFTD1) the YFL21 board
number in which the
alarm occurred.
Connection failure (1) Reset the alarm.(2) If the alarm occurs again, check the con-
nection and inserting state of the following cables and connectors.
(QF26/QFPS26) the YFL21 board
number in which the
alarm occurred.
has not occurred in encoder line of ex-axis.
Alarm list
2

- 727

2 - 728
Alarm list
No. Code
4168 MAINTENANCE SUB-Code: Signifies Maintenance forecast Replace the power supply.
FORECAST (PS1) the YFL21 board
number in which the
alarm occurred.
Incorrect setting Check the set value of the point which corresponds with an in-
struction manual of the power supply.
Parts failure Replace the power supply.

·No.B8 of CN808 and No.A7 of CN809 in the YFL21 board.
4169 I/O-EXPANSION SUB-Code: Signifies Short circuit or ground (1) Reset the alarm.
BOARD ERROR:1 the YFL21 board fault (2)Check the following settings.
number in which the
alarm occurred. ∙DC24V output from I/O expansion board is correct.
∙FU1 or FU2 fuse in I/O expansion board is not blown.
∙A short circuit or ground fault has not occurred in IN/OUT line of
I/O expansion board.
No. Code
Fuse blown (XOI) (1) Reset the alarm.
(2)Check DC24V output from I/O expansion board is correct.
(3)Replace the fuse(FU1, FU2) in I./O expansion board.
Board failure (XOI) Check the I/O expansion board.
·No.A2,B2 of CN806 in the YFL21 board.t.
4170 MAINTENANCE SUB-Code: Signifies Maintenance forecast Replace the power supply
FORECAST (PS2) the YFL21 board
number in which the
alarm occurred.
Incorrect setting Check the set value of the point which corresponds with an in-
struction manual of the power supply.
Parts failure Replace the power supply

·No.B3 of CN806 and No.A8 of CN809 in the YFL21 board.
Board failure(YFL21) (1) Turn the power OFF then back ON.
Alarm list
2
- 729
2 - 730
Alarm list
No. Code
4171 CONNECTION- SUB-Code: Signifies Incorrect setting Confirm whether YFL22 board is being used.
FAILURE (YFL22) the YFL21 board (1) when being unused, confirm following setting.
number in which the
alarm occurred. * A jumper of CN3 of YFL21 board be connected between 1-2.
(2) when using, please confirm following setting.
* A jumper of CN3 of YFL21 board be connected between 2-3.
Loose fuse Check the connection and inserting state of the following cables
and connectors.
·CN810 in the YFL21 board.
·CN820 in the YFL22 board.
(2) If the alarm occurs again, check a short circuit or ground fault
has not occurred in YFL22-CN820 from YFL21-CN810 line.
(QFPS1) the YFL21 board
number in which the
alarm occurred.
No. Code

·No.B3,B8 of CN808 in the YFL21 board.
4173 FUSE BLOWN SUB-Code: Signifies Blown fuse Replace the fuse (F2) in the YFL21 board.
(NOBOT ENCOD- the YFL21 board
ER) number in which the
alarm occurred.
has not occurred in encoder line between controller and robot.
Parts failure Replace the fuse (F2) in the YFL21 board.
Alarm list
2
- 731
2 - 732
Alarm list
No. Code
4174 DC 24V POWER SUB-Code: Signifies Incorrect setting Check the set value of the point which corresponds with an in-
SUPPLY FAILURE the YFL21 board struction manual of the power supply.
(PS1) number in which the
alarm occurred.
Output voltage lowers Check that the output voltage consists of the set value.

Connection failure (1) Reset the alarm.(2) If the alarm occurs again, check the con-
4175 DC 24V POWER SUB-Code: Signifies Incorrect setting Check the set value of the point which corresponds with an in-
SUPPLY FAILURE the YFL21 board struction manual of the power supply.
(PS2) number in which the
alarm occurred.
Output voltage lowers Check that the output voltage consists of the set value.

No. Code
(BRAKE:1) the YFL22 board
number in which the
alarm occurred.
has not occurred in brake line.
Parts failure Replace the fuse(F11) in the YFL22 board.
number in which the
alarm occurred.
Alarm list
2
- 733
2 - 734
Alarm list
No. Code
number in which the
alarm occurred.
number in which the
alarm occurred.
number in which the
alarm occurred.
No. Code
number in which the
alarm occurred.
number in which the
alarm occurred.
Alarm list
2

- 735
2 - 736
Alarm list
No. Code
number in which the
alarm occurred.
number in which the
alarm occurred.
No. Code
4192 TRACE FILE ER- 0 TRACE file genera- Connection failure (1) Reset the alarm.
ROR tion error (2) Check the connection status of the USB in the robot controller
and its available memory.
1 TRACE file open error Software operation (1) Turn the power OFF then back ON.
2 TRACE file writing er- Software operation (1) Turn the power OFF then back ON.
ror error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3 TRACE file close er- Software operation (1) Turn the power OFF then back ON.
4 TRACE file number Trace error Delete the trace files generated today from the USB on the robot
error controller.
5 TRACE file index er- Trace error Review the name of the trace files generated today in the USB on
ror the robot controller.
Alarm list
2
- 737
2 - 738
Alarm list
No. Code
4200 SYSTEM ERROR SUB-Code 01 to 50: Data error (1) Reset the alarm.
(FILE DATA) Signifies the internal (2) If the alarm occurs again, turn the controller power OFF and
software error then ON to check the operation.
nal memory device.
4201 SYSTEM ERROR -1 An error occurred Software operation Reset the alarm, and then try again.
(JOB) during the access to a error occurred
JOB in parameter
specifications.
YIF01 board failure (1) Reset the alarm, and then try again.
occurred.
YCP21 board failure (1) Reset the alarm, and then try again.
-2 Access time exceed- Software operation Reset the alarm, and then try again.
ed the limit during the error occurred
access to a JOB.
No. Code
occurred.
-3 The access to a JOB Software operation Reset the alarm, and then try again.
could not be per- error occurred
formed with the spec-
ified JOB name.
occurred.
Alarm list
2
- 739
2 - 740
Alarm list
No. Code
-4 A JOB was newly cre- Software operation Reset the alarm, and then try again.
ated with the same error occurred
name of the JOB al-
ready specified in the
memory.
occurred.
-5 A JOB was newly cre- Software operation Reset the alarm, and then try again.
ated with the same error occurred
name of the JOB al-
ready specified in the
memory.
occurred.
No. Code
-6 The allowable JOB Setting error (1) Check the following settings.
registration area ∙Delete unused JOBs.
(memory) was ex-
ceeded.
-7 A JOB that did not ex- Software operation Reset the alarm, and then try again.
ist in the memory was error occurred
specified.
occurred.
-8 An attempt was made Setting error (1) Check the following settings.
to change the con- ∙Release the prohibition.
tents for the JOB pro-
hibited from being
Alarm list
edited.
2
- 741
2 - 742
Alarm list
No. Code
-9 An error occurred Software operation Reset the alarm, and then try again.
during the access to a error occurred
JOB in handle value.
occurred.
-10 An error occurred in Software operation Reset the alarm, and then try again.
JOB data control sys- error occurred
tem.
occurred.
No. Code
sequence number of error occurred
the accessed JOB.
occurred.
step number of the error occurred
accessed JOB.
occurred.
Alarm list
2
- 743

2 - 744
Alarm list
No. Code
-13 A JOB specified at Software operation Reset the alarm, and then try again.
JOB search did not error occurred
exist in the memory.
occurred.
-14 There was an instruc- Software operation Reset the alarm, and then try again.
tion that did not exist error occurred
in a JOB because of
inconsistency of the
system software.
occurred.
No. Code
-16 Unused handles were Software operation Reset the alarm, and then try again.
lacking when an at- error occurred
tempt was made to
open a JOB.
occurred.
-18 The number of in- Setting error (1) Check the following settings.
structions added to a ∙Delete unnecessary instructions and add new instructions again.
JOB exceeded 9999.
Alarm list
2
- 745
2 - 746
Alarm list
No. Code
-19 The number of steps Setting error (1) Check the following settings.
added to a JOB ex- Delete unnecessary steps and add new steps again.
ceeded 9999.
-22 JOB information was Software operation Reset the alarm, and then try again.
not able to be ex- error occurred
panded.
occurred.
-23 JOB information was Software operation Reset the alarm, and then try again.
not able to be ac- error occurred
quired.
occurred.
No. Code
cluster control. error occurred
occurred.
-25 Failed to read the Software operation Reset the alarm, and then try again.
cluster information. error occurred
occurred.
Alarm list
2
- 747
2 - 748
Alarm list
No. Code
-26 Heap area could not Software operation Reset the alarm, and then try again.
be obtained. error occurred
occurred.
-27 The target for change Software operation (1) Reset the alarm, and then try again.
is the line where edit- error occurred (2) If the alarm occurs again, deactivate the prohibit setting for the
ing is prohibited or the target line or delete the comment-out line.
comment-out line.
occurred.
No. Code
YCP21 board, and then insert
-28 A false change in the Software operation (1) Reset the alarm, and then try again.
marker JOB was at- error occurred
tempted.
occurred.
YCP21 board, and then insert
-90 The configuration Software operation Reset the alarm, and then try again.
data is damaged. error occurred
occurred.
Alarm list
2
- 749
2 - 750
Alarm list
No. Code
-91 The FAT area is dam- Software operation Reset the alarm, and then try again.
aged. error occurred
occurred.
-92 A JOB data in the Software operation Reset the alarm, and then try again.
memory was de- error occurred
stroyed.
occurred.
No. Code
4202 SYSTEM ERROR 1 An error occurred in Software operation (1) Reset the alarm.
(JOB) parameter specifica- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
tions for the access to curred.
a JOB. (3)If the error occurs again after the previous measures were ex-
then load the saved JOB file.
2 Access time exceed- Software operation (1) Reset the alarm.
ed the limit during the error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
access to a JOB. curred.
Alarm list
2
- 751
2 - 752
Alarm list
No. Code
3 Unapproved charac- Software operation (1) Reset the alarm.
ters are used for a error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
JOB name. curred.
4 A JOB was newly cre- Software operation (1) Reset the alarm.
ated with the same error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
name of the JOB al- curred.
ready specified in the (3)If the error occurs again after the previous measures were ex-
memory. ecuted, initialize the JOB file in the MAINTENANCE mode, and
name of the JOB al- curred.
ready specified in the (3)If the error occurs again after the previous measures were ex-
memory. ecuted, initialize the JOB file in the MAINTENANCE mode, and
No. Code
6 The allowable JOB Software operation (1) Reset the alarm.
registration area error occurred (2)If the error occurs again, delete unused JOBs.
(memory) was ex- (3)If the error occurs again after the previous measures were ex-
ceeded. ecuted, initialize the JOB file in the MAINTENANCE mode, and
JOBs.
7 A JOB that did not ex- Software operation (1) Reset the alarm.
ist in the memory was error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
specified. curred.
8 An attempt was made Setting error (1) Check the following settings.
to change the con- ∙Setting of EDIT LOCK in JOB header screen
tents for the JOB pro- If the JOB is protected from editing, release the prohibition.
hibited from being
edited.
Alarm list
2
- 753
2 - 754
Alarm list
No. Code
Software operation (1) Reset the alarm.
error occurred (2)If you edit this JOB, release the prohibition.
(3)If the error occurs again, delete the JOB where the alarm oc-
curred.
to change the con- ∙Setting of EDIT LOCK in JOB header screen
tents for the JOB pro- If the JOB is protected from editing, release the prohibition.
hibited from being
edited.
error occurred (2)If you edit this JOB, release the prohibition.
(3)If the error occurs again, delete the JOB where the alarm oc-
curred.
No. Code
10 An error occurred in Software operation (1) Reset the alarm.
JOB data control sys- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
tem. curred.
sequence number of error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
the accessed JOB. curred.
step number of the error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
accessed JOB. curred.
Alarm list
2
- 755
2 - 756
Alarm list
No. Code
13 A JOB specified at Software operation (1) Reset the alarm.
JOB search did not error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
exist in the memory. curred.
14 There was an instruc- Software operation (1) Reset the alarm.
tion that did not exist error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
in a JOB because of curred.
inconsistency of the (3)If the error occurs again after the previous measures were ex-
system software. ecuted, initialize the JOB file in the MAINTENANCE mode, and
16 Unused handles were Setting error (1) Check the following settings.
lacking when an at- ∙The number of call JOB stacks
tempt was made to Set the JOB configuration that decreases the number of call JOB
open a JOB. stacks.
error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
No. Code
18 The number of in- Setting error (1) Check the following settings.
structions added to a ∙The number of steps in JOB
JOB exceeded 9999. Delete unnecessary instructions in JOB and add new instructions.
curred.
19 The number of steps Setting error (1) Check the following settings.
added to a JOB ex- ∙The number of steps in JOB
ceeded 9999. Delete unnecessary steps in JOB and add new steps.
curred.
Alarm list
2
- 757
2 - 758
Alarm list
No. Code
name of the unde- curred.
fined JOB already (3)If the error occurs again after the previous measures were ex-
specified in the mem- ecuted, initialize the JOB file in the MAINTENANCE mode, and
ory. then load the saved JOB file.
22 Failed to expand JOB Software operation (1) Reset the alarm.
information during the error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
access to a JOB. curred.
23 The accessed JOB Software operation (1) Reset the alarm.
was not opened. error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
No. Code
the cluster control error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
process of the ac- curred.
cessed JOB. (3)If the error occurs again after the previous measures were ex-
25 An error occurred Software operation (1) Reset the alarm.
when reading the error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
cluster information of curred.
the accessed JOB. (3)If the error occurs again after the previous measures were ex-
26 Failed to acquire the Software operation (1) Reset the alarm.
necessary memory error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
area during the ac- curred.
cess to a JOB. (3)If the error occurs again after the previous measures were ex-
Alarm list
2
- 759
2 - 760
Alarm list
No. Code
27 An attempt was made Setting error (1) Reset the alarm.
to change the con- (2) Cancel the LINE EDIT LOCK/COMMENT OUT settings of tar-
tents for the line pro- get lines in JOB CONTENTS screen.
hibited from being
edited or the com-
mented-out line.
error occurred (2) Cancel the LINE EDIT LOCK/COMMENT OUT settings of tar-
get lines in JOB CONTENTS screen.
(3) If the error occurs again, delete the line where the alarm oc-
curred.
(4) If the error occurs again after the previous measures were ex-
28 A false change in the Software operation (1) Reset the alarm.
marker JOB was at- error occurred (2) If the error occurs again after the previous measures were ex-
tempted. ecuted, initialize the JOB file in the MAINTENANCE mode, and
No. Code
90 The configuration in- Software operation (1) Reset the alarm.
formation for JOB error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
data control is dam- curred.
aged. (3)If the error occurs again after the previous measures were ex-
91 The FAT information Software operation (1) Reset the alarm.
for JOB data is dam- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
aged. curred.
92 A JOB data was de- Software operation (1) Reset the alarm.
stroyed. error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
Alarm list
2
- 761
2 - 762
Alarm list
No. Code
99 A JOB data in the Software operation (1) Reset the alarm.
memory was de- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
stroyed. curred.
4203 SYSTEM ERROR -1 The memory area for Software operation Reset the alarm, and then try again.
(POSITION DATA) position data is lack- error occurred
ing at the initialization
of the position data
control process.
occurred.
No. Code
-2 The number of axes Software operation Reset the alarm, and then try again.
for all the control error occurred
groups is zero at the
initialization of the po-
sition data control
process.
occurred.
for position data is ze- error occurred
ro.
occurred.
Alarm list
2

- 763
2 - 764
Alarm list
No. Code
-4 The number of stored Software operation Reset the alarm, and then try again.
position data exceed- error occurred
ed the maximum
stored data at the ini-
tialization of the posi-
tion data control
process.
occurred.
-5 The memory size of Software operation Reset the alarm, and then try again.
the position data ex- error occurred
ceeded the maximum
memory size at the
initialization of the po-
sition data control
process.
No. Code
occurred.
-6 Unused position data Software operation Reset the alarm, and then try again.
file is destroyed. error occurred
occurred.
-7 Unused position data Software operation Reset the alarm, and then try again.
file does not exist. error occurred
Alarm list
2
- 765
2 - 766
Alarm list
No. Code
occurred.
-8 Position data file is Software operation Reset the alarm, and then try again.
destroyed. error occurred
occurred.
-9 Position data control Software operation Reset the alarm, and then try again.
information is de- error occurred
stroyed.
No. Code
occurred.
specified position error occurred
data number.
occurred.
-11 Position data is not Software operation Reset the alarm, and then try again.
Alarm list
registered. error occurred
2
- 767
2 - 768
Alarm list
No. Code
occurred.
-12 An attempt was made Software operation Reset the alarm, and then try again.
to access the unde- error occurred
fined position data.
occurred.
No. Code
-13 An attempt was made Software operation Reset the alarm, and then try again.
to access the position error occurred
data for the undefined
control group.
occurred.
-14 Position data control Software operation Reset the alarm, and then try again.
is not initialized. error occurred
occurred.
Alarm list
2
- 769

2 - 770
Alarm list
No. Code
for the control groups error occurred
exceeded the limit.
occurred.
exclusive control error occurred
during the position
data control process.
occurred.
No. Code
exceptional control error occurred
during the position
data control process.
occurred.
-20 Inconsistency of data. Software operation Reset the alarm, and then try again.
error occurred
occurred.
Alarm list
2
- 771

2 - 772
Alarm list
No. Code
4204 SYSTEM ERROR 1 The number of axes Software operation (1) Reset the alarm.
(POSITION DATA) for all the control error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
groups is zero at the curred.
initialization of the po- (3)If the error occurs again after the previous measures were ex-
sition data control ecuted, initialize the JOB file in the MAINTENANCE mode, and
process then load the saved JOB file.
2 The number of axes Software operation (1) Reset the alarm.
for all the control error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
groups is zero at the curred.
initialization of the po- (3)If the error occurs again after the previous measures were ex-
sition data control ecuted, initialize the JOB file in the MAINTENANCE mode, and
process then load the saved JOB file.
for position data is ze- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
ro. curred.
No. Code
4 The number of stored Software operation (1) Reset the alarm.
position data exceed- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
ed the maximum curred.
stored data at the ini- (3)If the error occurs again after the previous measures were ex-
tialization of the posi- ecuted, initialize the JOB file in the MAINTENANCE mode, and
tion data control then load the saved JOB file.
process. (4)If the error occurs again though the previous measures were
5 The memory size of Software operation (1) Reset the alarm.
the position data ex- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
ceeded the maximum curred.
memory size at the (3)If the error occurs again after the previous measures were ex-
initialization of the po- ecuted, initialize the JOB file in the MAINTENANCE mode, and
sition data control then load the saved JOB file.
process. (4)If the error occurs again though the previous measures were
6 Unused position data Software operation (1) Reset the alarm.
file is destroyed. error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
7 Unused position data Setting error (1) Check the following settings.
Alarm list
file does not exist. ∙The number of steps in JOB (position data)
2
Delete unnecessary position data in JOB and add new position

- 773
data.
2 - 774
Alarm list
No. Code
curred.
8 Position data file is Software operation (1) Reset the alarm.
destroyed. error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
9 Position data control Software operation (1) Reset the alarm.
information is de- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
stroyed. curred.
No. Code
specified position error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
data number. curred.
11 Position data is not Setting error (1) Check the following settings.
registered. ∙Teaching of alarm occurred point
Teaching the point where alarm occurred.
curred.
12 An attempt was made Software operation (1) Reset the alarm.
to access the unde- error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
fined position data. curred.
Alarm list
2

- 775
2 - 776
Alarm list
No. Code
13 An attempt was made Software operation (1) Reset the alarm.
to access the position error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
data for the undefined curred.
control group. (3)If the error occurs again after the previous measures were ex-
14 Position data control Software operation (1) Reset the alarm.
is not initialized. error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
for the control groups error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
exceeded the limit. curred.
No. Code
exclusive control error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
during the position curred.
data control process. (3)If the error occurs again after the previous measures were ex-
exceptional control error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
during the position curred.
data control process. (3)If the error occurs again after the previous measures were ex-
20 Undefined position Software operation (1) Reset the alarm.
exists. error occurred (2)If the error occurs again, delete the JOB where the alarm oc-
curred.
4206 SYSTEM ERROR SUB-Code 1 to 4: Sig- Software operation (1) Turn the power OFF then back ON.
Alarm list
(TRANSMISSION) nifies the internal soft- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2
ware error during data NANCE mode, and then contact your YASKAWA representative
- 777
transmission. about occurrence status (operating procedure).

2 - 778
Alarm list
No. Code
4207 SYSTEM ERROR 1 An interrupt unde- Software operation (1) Reset the alarm, and then try again.
(MOTION) fined in the main com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mand from the NANCE mode, and then contact your YASKAWA representative
system control sec- about occurrence status (operating procedure).
tion occurred.
2 An interrupt unde- Software operation (1) Reset the alarm, and then try again.
fined in the sub com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mand from the NANCE mode, and then contact your YASKAWA representative
tion occurred.
3 The interrupt com- Software operation (1) Reset the alarm, and then try again.
mand that was sent error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
previously from the NANCE mode, and then contact your YASKAWA representative
tion is being pro-
cessed.
4 An error was detected Software operation (1) Reset the alarm, and then try again.
in the interrupt com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mand data from the NANCE mode, and then contact your YASKAWA representative
tion.
5 An undefined com- Software operation (1) Reset the alarm, and then try again.
mand was detected in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the sub segment task NANCE mode, and then contact your YASKAWA representative
of MOTION section. about occurrence status (operating procedure).
the SERVO-related NANCE mode, and then contact your YASKAWA representative
processing of MO- about occurrence status (operating procedure).
TION section.
No. Code
the offline processing NANCE mode, and then contact your YASKAWA representative
task of MOTION sec- about occurrence status (operating procedure).
tion.
the utility task of MO- NANCE mode, and then contact your YASKAWA representative
TION section. about occurrence status (operating procedure).
10 Task Token is not Software operation (1) Reset the alarm, and then try again.
generated. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
11 Mail-box Token is not Software operation (1) Reset the alarm, and then try again.
generated. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
12 Semaphore Token is Software operation (1) Reset the alarm, and then try again.
not generated. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
14 RMS receiving data Software operation (1) Reset the alarm, and then try again.
error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
15 RMS sending data er- Software operation (1) Reset the alarm, and then try again.
Alarm list
2
- 779
2 - 780
Alarm list
No. Code
16 RMS receiving unit Software operation (1) Reset the alarm, and then try again.
18 Task generation error Software operation (1) Reset the alarm, and then try again.
19 Mail-box generation Software operation (1) Reset the alarm, and then try again.
20 Semaphore genera- Software operation (1) Reset the alarm, and then try again.
tion error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
22 TCB area overflow Software operation (1) Reset the alarm, and then try again.
23 Stack area overflow Software operation (1) Reset the alarm, and then try again.
24 Mail-box area over- Software operation (1) Reset the alarm, and then try again.
flow error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
25 Semaphore area Software operation (1) Reset the alarm, and then try again.
overflow error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
30 Interrupt main com- Software operation (1) Reset the alarm, and then try again.
mand error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
33 Incorrect control Software operation (1) Reset the alarm, and then try again.
group designation error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
34 Offline bank sema- Software operation (1) Reset the alarm, and then try again.
phore reception error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
35 m_gen_area sema- Software operation (1) Reset the alarm, and then try again.
phore reception error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
36 Offline HA processing Software operation (1) Reset the alarm, and then try again.
timeout error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
37 DM_BANK flag error Software operation (1) Reset the alarm, and then try again.
(DM_BANK conver- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
sion processing) NANCE mode, and then contact your YASKAWA representative
38 S -> M offline pro- Software operation (1) Reset the alarm, and then try again.
cessing command error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
type error NANCE mode, and then contact your YASKAWA representative
39 Function specification Software operation (1) Reset the alarm, and then try again.
error in the data trans- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
mission to the sensor NANCE mode, and then contact your YASKAWA representative
2
- 781
board about occurrence status (operating procedure).

2 - 782
Alarm list
No. Code
40 Error in designation of Software operation (1) Reset the alarm, and then try again.
application in the re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
quest of general-pur- NANCE mode, and then contact your YASKAWA representative
pose data preset for about occurrence status (operating procedure).
each application.
45 Mail-box of sequence Software operation (1) Reset the alarm, and then try again.
task is not ready. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
46 Control-group usage Software operation (1) Reset the alarm, and then try again.
undefined error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
47 Segment task polling Software operation (1) Reset the alarm, and then try again.
command error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
48 Physical axis number Software operation (1) Reset the alarm, and then try again.
49 The control group im- Software operation (1) Reset the alarm, and then try again.
possible to release error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the brake NANCE mode, and then contact your YASKAWA representative
50 Sub-segment re- Software operation (1) Reset the alarm, and then try again.
quest FULL error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
51 Sub-segment pro- Software operation (1) Reset the alarm, and then try again.
cess timeout error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
52 Data latch request Software operation (1) Reset the alarm, and then try again.
FULL error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
53 Data latch process Software operation (1) Reset the alarm, and then try again.
timeout error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
54 AXIS command re- Software operation (1) Reset the alarm, and then try again.
quest FULL error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
55 AXIS command pro- Software operation (1) Reset the alarm, and then try again.
cess timeout error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
56 Positioning monitor Software operation (1) Reset the alarm, and then try again.
request FULL error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
57 Positioning monitor Software operation (1) Reset the alarm, and then try again.
process timeout error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
58 Failed AXIS SERVO Software operation (1) Reset the alarm, and then try again.
OFF command re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
quest during catego- NANCE mode, and then contact your YASKAWA representative
2
- 783
ry1 emergency stop about occurrence status (operating procedure).

2 - 784
Alarm list
No. Code
59 AXIS SERVO OFF Software operation (1) Reset the alarm, and then try again.
command execution error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
system not set during NANCE mode, and then contact your YASKAWA representative
category1 emergency about occurrence status (operating procedure).
stop
61 Conversion primary Software operation (1) Reset the alarm, and then try again.
expression for Power error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Source command <-> NANCE mode, and then contact your YASKAWA representative
EW command not about occurrence status (operating procedure).
prepared
62 Duplicated request Software operation (1) Reset the alarm, and then try again.
error during master error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
control-group tracking NANCE mode, and then contact your YASKAWA representative
63 GVM shared re- Software operation (1) Reset the alarm, and then try again.
source semaphore error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
error NANCE mode, and then contact your YASKAWA representative
64 JOB queue DEQUE Software operation (1) Reset the alarm, and then try again.
65 Conversion primary Software operation (1) Reset the alarm, and then try again.
expression for paint- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing device command NANCE mode, and then contact your YASKAWA representative
<-> EW command not about occurrence status (operating procedure).
prepared
66 Execution system de- Software operation (1) Reset the alarm, and then try again.
cision table not set error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
67 Unknown mode data Software operation (1) Reset the alarm, and then try again.
(Without TEACH/ error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
PLAY mode data) NANCE mode, and then contact your YASKAWA representative
68 Shift-value output tim- Software operation (1) Reset the alarm, and then try again.
eout of the general- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
purpose sensor NANCE mode, and then contact your YASKAWA representative
69 Interrupt main status Software operation (1) Reset the alarm, and then try again.
set error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
71 System number error Software operation (1) Reset the alarm, and then try again.
at the master side in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
twin synchronous NANCE mode, and then contact your YASKAWA representative
system about occurrence status (operating procedure).
72 No data link added to Software operation (1) Reset the alarm, and then try again.
the command error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
73 Setting status error of Software operation (1) Reset the alarm, and then try again.
the user coordinates error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
file NANCE mode, and then contact your YASKAWA representative
75 Previous path data Software operation (1) Reset the alarm, and then try again.
reference error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
76 Target position Software operation (1) Reset the alarm, and then try again.
preparation error in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
arc-retry shift motion NANCE mode, and then contact your YASKAWA representative
2
- 785
mode about occurrence status (operating procedure).

2 - 786
Alarm list
No. Code
79 Inner track zone sta- Software operation (1) Reset the alarm, and then try again.
tus error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
80 Instruction queue and Software operation (1) Reset the alarm, and then try again.
instruction system error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
data area overflow NANCE mode, and then contact your YASKAWA representative
81 Offline answer bank Software operation (1) Reset the alarm, and then try again.
flag error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
82 Path and trace queue Software operation (1) Reset the alarm, and then try again.
ENQUE BANK error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
83 Pending and block Software operation (1) Reset the alarm, and then try again.
end request FULL error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
84 Base axis file type er- Software operation (1) Reset the alarm, and then try again.
85 Output buffer SY- Software operation (1) Reset the alarm, and then try again.
SCON for automatic error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
test data in use NANCE mode, and then contact your YASKAWA representative
No. Code
86 Conversion comple- Software operation (1) Reset the alarm, and then try again.
tion status for AXIS error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
section feedback NANCE mode, and then contact your YASKAWA representative
latch data not estab- about occurrence status (operating procedure).
lished
88 File C1 through C3 for Software operation (1) Reset the alarm, and then try again.
calibration between error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
robots not set NANCE mode, and then contact your YASKAWA representative
89 File C1 through C3 for Software operation (1) Reset the alarm, and then try again.
conveyor calibration error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
not set NANCE mode, and then contact your YASKAWA representative
90 HA function error Setting error (1) Check the following settings.
(conv_pos_data()) ∙Correct the JOB so that the target position data is within the mo-
tion range.
91 HA function error Setting error (1) Check the following settings.
(conv_shift_data()) ∙Correct the JOB so that the target position data is within the mo-
tion range.
94 HA function error Software operation (1) Reset the alarm, and then try again.
(conv_pulse_to_an- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
gle()) NANCE mode, and then contact your YASKAWA representative
Alarm list
(pr_atinf_pos_- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2
make()) NANCE mode, and then contact your YASKAWA representative

- 787

2 - 788
Alarm list
No. Code
(get_gun_ctrl_ori_an- error occurred (3) If the alarm occurs again, save the CMOS.BIN in MAINTE-
gle()) NANCE mode, and then contact your YASKAWA representative
(make_conv_frm_da- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ta()) NANCE mode, and then contact your YASKAWA representative
99 HA function error (cal- Software operation (1) Reset the alarm, and then try again.
c_dist_pos()) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
100 Control-group axis Software operation (1) Reset the alarm, and then try again.
configuration informa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion parameter error NANCE mode, and then contact your YASKAWA representative
101 Error in the parameter Software operation (1) Reset the alarm, and then try again.
for the table for physi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cal axes NANCE mode, and then contact your YASKAWA representative
102 Error in the parameter Software operation (1) Reset the alarm, and then try again.
for the table for physi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cal TU NANCE mode, and then contact your YASKAWA representative
103 Excessive number of Software operation (1) Reset the alarm, and then try again.
control group axes in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
use NANCE mode, and then contact your YASKAWA representative
104 JOG and PLAY maxi- Software operation (1) Reset the alarm, and then try again.
mum speed setting error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
parameter error NANCE mode, and then contact your YASKAWA representative
No. Code
105 Reduction ratio set- Software operation (1) Reset the alarm, and then try again.
ting parameter error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
106 Feedback PPR set- Software operation (1) Reset the alarm, and then try again.
ting parameter error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
121 JOB argument stack Software operation (1) Reset the alarm, and then try again.
overflow error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
122 JOB argument stack Software operation (1) Reset the alarm, and then try again.
underflow error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
123 Designation error of Software operation (1) Reset the alarm, and then try again.
the fetched feedback error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
pulse area at prepara- NANCE mode, and then contact your YASKAWA representative
tion of current value about occurrence status (operating procedure).
128 Timeout for waiting Software operation (1) Reset the alarm, and then try again.
permission to modify error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the number of averag- NANCE mode, and then contact your YASKAWA representative
ing times about occurrence status (operating procedure).
129 Object undefined for Software operation (1) Reset the alarm, and then try again.
CLEAR instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
130 No space in Software operation (1) Reset the alarm, and then try again.
RT_BANK setting error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
area for correction- NANCE mode, and then contact your YASKAWA representative
2
- 789
amount data about occurrence status (operating procedure).

2 - 790
Alarm list
No. Code
131 Queue operation er- Software operation (1) Reset the alarm, and then try again.
ror for variable write- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in history at preread- NANCE mode, and then contact your YASKAWA representative
ing (at ENQUE) about occurrence status (operating procedure).
ing (at DEQUE) about occurrence status (operating procedure).
ing (undefined opera- about occurrence status (operating procedure).
tion)
ing (data length too about occurrence status (operating procedure).
long)
ror for score-board error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
setting history (at EN- NANCE mode, and then contact your YASKAWA representative
QUE) about occurrence status (operating procedure).
setting history (at DE- NANCE mode, and then contact your YASKAWA representative
QUE) about occurrence status (operating procedure).
setting history (unde- NANCE mode, and then contact your YASKAWA representative
fined operation) about occurrence status (operating procedure).
No. Code
setting history (data NANCE mode, and then contact your YASKAWA representative
length too long) about occurrence status (operating procedure).
ror for instruction exe- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cution (at ENQUE) NANCE mode, and then contact your YASKAWA representative
cution (at DEQUE) NANCE mode, and then contact your YASKAWA representative
cution (undefined NANCE mode, and then contact your YASKAWA representative
operation) about occurrence status (operating procedure).
cution (data length NANCE mode, and then contact your YASKAWA representative
too long) about occurrence status (operating procedure).
ror for WORK ID con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
veyor (at ENQUE) NANCE mode, and then contact your YASKAWA representative
veyor (at DEQUE) NANCE mode, and then contact your YASKAWA representative
Alarm list
veyor (undefined NANCE mode, and then contact your YASKAWA representative
2
- 791
operation) about occurrence status (operating procedure).

2 - 792
Alarm list
No. Code
veyor (data length too NANCE mode, and then contact your YASKAWA representative
long) about occurrence status (operating procedure).
ror for WORK IN/OUT error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
checking conveyor (at NANCE mode, and then contact your YASKAWA representative
ENQUE) about occurrence status (operating procedure).
checking conveyor (at NANCE mode, and then contact your YASKAWA representative
DEQUE) about occurrence status (operating procedure).
checking conveyor NANCE mode, and then contact your YASKAWA representative
(undefined operation) about occurrence status (operating procedure).
checking conveyor NANCE mode, and then contact your YASKAWA representative
(data length too long) about occurrence status (operating procedure).
ror for waiting for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
semaphore for LOCK NANCE mode, and then contact your YASKAWA representative
instruction (at EN- about occurrence status (operating procedure).
QUE)
instruction (at DE- about occurrence status (operating procedure).
QUE)
No. Code
instruction (unde- about occurrence status (operating procedure).
fined operation)
161 Functional safety Software operation (1) Reset the alarm, and then try again.
command request is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
full. NANCE mode, and then contact your YASKAWA representative
162 Functional safety Software operation (1) Reset the alarm, and then try again.
command request is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
latency over. NANCE mode, and then contact your YASKAWA representative
instruction (data about occurrence status (operating procedure).
length too long)
221 Transfer data over- Software operation (1) Reset the alarm, and then try again.
flow in offline data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
bank NANCE mode, and then contact your YASKAWA representative
222 Impossible to execute Software operation (1) Reset the alarm, and then try again.
system exclusive for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
system JOB NANCE mode, and then contact your YASKAWA representative
223 Event queue number Software operation (1) Reset the alarm, and then try again.
range exceeded error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 793
2 - 794
Alarm list
No. Code
224 No motor-gun control Software operation (1) Reset the alarm, and then try again.
group for ESRCH in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
struction NANCE mode, and then contact your YASKAWA representative
225 The number of Software operation (1) Reset the alarm, and then try again.
WORK ID data and error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the MAX. WORK NANCE mode, and then contact your YASKAWA representative
FIND COUNT un- about occurrence status (operating procedure).
matched (MOTION ≠
CV)
226 The number of Software operation (1) Reset the alarm, and then try again.
WORK IN/OUT data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
and the MAX. WORK NANCE mode, and then contact your YASKAWA representative
FIND COUNT un- about occurrence status (operating procedure).
matched (MOTION ≠
CV)
227 Excessive number of Software operation (1) Reset the alarm, and then try again.
scheduling for execu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion of instructions NANCE mode, and then contact your YASKAWA representative
228 Instruction execution Software operation (1) Reset the alarm, and then try again.
scheduling impossi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ble NANCE mode, and then contact your YASKAWA representative
229 Illegal 1st-line move Software operation (1) Reset the alarm, and then try again.
instruction at execu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion of +SMOV in- NANCE mode, and then contact your YASKAWA representative
struction about occurrence status (operating procedure).
No. Code
the slave circular in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
terpolation and the NANCE mode, and then contact your YASKAWA representative
master circular inter- about occurrence status (operating procedure).
polation at the same
time
the slave spline inter- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
polation and the mas- NANCE mode, and then contact your YASKAWA representative
ter spline about occurrence status (operating procedure).
interpolation at the
same time
232 Illegal index value for Software operation (1) Reset the alarm, and then try again.
a +MOVx instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
233 No xth-line move in- Software operation (1) Reset the alarm, and then try again.
struction exists where error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the master control NANCE mode, and then contact your YASKAWA representative
group belongs. about occurrence status (operating procedure).
234 Marking error for Software operation (1) Reset the alarm, and then try again.
WORK ID conveyor error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
queue (empty queue) NANCE mode, and then contact your YASKAWA representative
235 Marking error for Software operation (1) Reset the alarm, and then try again.
WORK IN/OUT con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
veyor queue (empty NANCE mode, and then contact your YASKAWA representative
queue) about occurrence status (operating procedure).
236 Data error 1 at restart- Software operation (1) Reset the alarm, and then try again.
ing after an emergen- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
cy stop (actual status NANCE mode, and then contact your YASKAWA representative
2
and the data status about occurrence status (operating procedure).

- 795
unmatched)
2 - 796
Alarm list
No. Code
unmatched)
unmatched)
239 Timeout for receiving Software operation (1) Reset the alarm, and then try again.
segment data output error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
request NANCE mode, and then contact your YASKAWA representative
240 The number which Software operation (1) Reset the alarm, and then try again.
designates the setting error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
area of correction NANCE mode, and then contact your YASKAWA representative
amount in RT_BANK about occurrence status (operating procedure).
exceeded the limit
value.
241 Task error of the func- Software operation (1) Reset the alarm, and then try again.
tion calling source error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(cv_sync_intr ( )) NANCE mode, and then contact your YASKAWA representative
242 No control group for Software operation (1) Reset the alarm, and then try again.
motor gun for clear- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ance move instruction NANCE mode, and then contact your YASKAWA representative
243 Motor gun condition Software operation (1) Reset the alarm, and then try again.
file number error (in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cluding gun pressure NANCE mode, and then contact your YASKAWA representative
file) about occurrence status (operating procedure).
No. Code
244 GETTOOLW robot Software operation (1) Reset the alarm, and then try again.
designation error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
245 Overflow of entry Software operation (1) Reset the alarm, and then try again.
number for instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
execution NANCE mode, and then contact your YASKAWA representative
246 Data latch processing Software operation (1) Reset the alarm, and then try again.
(function number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
overflow) NANCE mode, and then contact your YASKAWA representative
247 Data latch processing Software operation (1) Reset the alarm, and then try again.
(real-time status num- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ber overflow) NANCE mode, and then contact your YASKAWA representative
248 Failed to set a timer Software operation (1) Reset the alarm, and then try again.
unit. (No allocation error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
space for timer unit NANCE mode, and then contact your YASKAWA representative
setting) about occurrence status (operating procedure).
249 Segment data miss- Software operation (1) Reset the alarm, and then try again.
ing (seg_t_req was error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
not received in time.) NANCE mode, and then contact your YASKAWA representative
250 GETS instruction in- Software operation (1) Reset the alarm, and then try again.
ternal error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
251 SETFILE undefined Software operation (1) Reset the alarm, and then try again.
file error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 797

2 - 798
Alarm list
No. Code
252 GETFILE undefined Software operation (1) Reset the alarm, and then try again.
file error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
253 The parameter was Software operation (1) Reset the alarm, and then try again.
destroyed when a error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
GETPRM instruction NANCE mode, and then contact your YASKAWA representative
was executed. about occurrence status (operating procedure).
254 Null pointer assign- Software operation (1) Reset the alarm, and then try again.
ment detected error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
255 Function or other pro- Software operation (1) Reset the alarm, and then try again.
cessing parameter er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror NANCE mode, and then contact your YASKAWA representative
260 Arithmetic answer is Software operation (1) Reset the alarm, and then try again.
not set at prereading error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(ADV_HA_ANS.flag NANCE mode, and then contact your YASKAWA representative
== OFF) about occurrence status (operating procedure).
261 Heap area obtain- Software operation (1) Reset the alarm, and then try again.
ment failure error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(A_BANK) NANCE mode, and then contact your YASKAWA representative
ment failure error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(C_BANK) NANCE mode, and then contact your YASKAWA representative
ment failure (Instruc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion queue) NANCE mode, and then contact your YASKAWA representative
No. Code
ment failure (Path/ error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trace queue) NANCE mode, and then contact your YASKAWA representative
ment failure (IFEx- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
press descriptor) NANCE mode, and then contact your YASKAWA representative
279 Specified MSS sys- Software operation (1) Reset the alarm, and then try again.
tem instance is not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
generated. NANCE mode, and then contact your YASKAWA representative
280 API error Software operation (1) Reset the alarm, and then try again.
(HDAS_get_alias_na error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
me()) NANCE mode, and then contact your YASKAWA representative
284 GA generation num- Software operation (1) Reset the alarm, and then try again.
ber is over the limit. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
285 GA gene number is Software operation (1) Reset the alarm, and then try again.
over the limit. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
286 GA initial generation Software operation (1) Reset the alarm, and then try again.
number setting error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
287 GA control group er- Software operation (1) Reset the alarm, and then try again.
Alarm list
2
- 799

2 - 800
Alarm list
No. Code
288 Learning control anal- Software operation (1) Reset the alarm, and then try again.
ysis error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(get_svspot_ntch_da- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ta()) NANCE mode, and then contact your YASKAWA representative
291 Paint instruction inter- Software operation (1) Reset the alarm, and then try again.
nal error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
292 Paint recover control Software operation (1) Reset the alarm, and then try again.
error (Paint Gun pa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rameter error) NANCE mode, and then contact your YASKAWA representative
293 Paint recover control Software operation (1) Reset the alarm, and then try again.
294 JOB completion time Software operation (1) Reset the alarm, and then try again.
over error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
295 SERVO simulator av- Software operation (1) Reset the alarm, and then try again.
eraging time change error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
310 Synchronized queue Software operation (1) Reset the alarm, and then try again.
operation error for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
WORK ID conveyor NANCE mode, and then contact your YASKAWA representative
(at ENQUE) about occurrence status (operating procedure).
No. Code
(at DEQUE) about occurrence status (operating procedure).
(undefined operation) about occurrence status (operating procedure).
(data length too long) about occurrence status (operating procedure).
WORK IN/OUT NANCE mode, and then contact your YASKAWA representative
checking conveyor (at about occurrence status (operating procedure).
ENQUE)
checking conveyor (at about occurrence status (operating procedure).
DEQUE)
checking conveyor about occurrence status (operating procedure).
(undefined operation)
Alarm list
checking conveyor about occurrence status (operating procedure).
2
(data length too long)

- 801
2 - 802
Alarm list
No. Code
or WORK IN/OUT about occurrence status (operating procedure).
conveyor (atDEQUE)
empty error for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(at execution of about occurrence status (operating procedure).
CVQUE
empty error for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
WORK IN/OUT con- NANCE mode, and then contact your YASKAWA representative
veyor (at execution of about occurrence status (operating procedure).
CVQUE)
330 P-PLC suspend err Software operation (1) Reset the alarm, and then try again.
331 P-PLC suspend err Software operation (1) Reset the alarm, and then try again.
332 P-PLC suspend seq Software operation (1) Reset the alarm, and then try again.
err error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
no err error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
no err error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
340 PSTRIG suspend err Software operation (1) Reset the alarm, and then try again.
341 PSTRIG suspend err Software operation (1) Reset the alarm, and then try again.
342 PSTRIG suspend seq Software operation (1) Reset the alarm, and then try again.
err error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
500 SL undefined inter- Software operation (1) Reset the alarm, and then try again.
rupt command (main error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
command) NANCE mode, and then contact your YASKAWA representative
501 SL undefined inter- Software operation (1) Reset the alarm, and then try again.
rupt command (sub error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
command) NANCE mode, and then contact your YASKAWA representative
502 Previous SL interrupt Software operation (1) Reset the alarm, and then try again.
command processing error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
503 SL interrupt com- Software operation (1) Reset the alarm, and then try again.
mand data error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 803

2 - 804
Alarm list
No. Code
999 Arithmetic section er- Software operation (1) Reset the alarm, and then try again.
ror (segment data all error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
zero timeout) NANCE mode, and then contact your YASKAWA representative
1000 System clock (RTC) Software operation (1) Reset the alarm, and then try again.
setting error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1001 System task priority Software operation (1) Reset the alarm, and then try again.
arrangement error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1002 VxWorks primitive er- Software operation (1) Reset the alarm, and then try again.
ror (msgQCreate) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror (msgQSend) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror (semBCreate) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror (semTake) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror (msgQSend) Mes- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
sage queue is full. NANCE mode, and then contact your YASKAWA representative
No. Code
1100 Failed system JOB Software operation (1) Reset the alarm, and then try again.
environment configu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ration NANCE mode, and then contact your YASKAWA representative
2000 Failed system JOB Software operation (1) Reset the alarm, and then try again.
environment configu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ration NANCE mode, and then contact your YASKAWA representative
4208 SYSTEM ERROR 1 Prereading task is not Software operation (1) Reset the alarm, and then try again.
(ARITH) completed. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 The averaging buffer Software operation (1) Reset the alarm, and then try again.
in the arithmetic sec- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion is destroyed. NANCE mode, and then contact your YASKAWA representative
6 No previous bank ex- Software operation (1) Reset the alarm, and then try again.
ists. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
7 The answer bank flag Software operation (1) Reset the alarm, and then try again.
is ON. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
8 An error occurred in Software operation (1) Reset the alarm, and then try again.
preparation of current error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
position. NANCE mode, and then contact your YASKAWA representative
9 Mails could not cor- Software operation (1) Reset the alarm, and then try again.
rectly be received in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
the current task. NANCE mode, and then contact your YASKAWA representative
2
- 805

2 - 806
Alarm list
No. Code
10 Spline-curve path Software operation (1) Reset the alarm, and then try again.
designation error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
11 The previous bank's Software operation (1) Reset the alarm, and then try again.
prereading conver- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
sion could not correct- NANCE mode, and then contact your YASKAWA representative
ly be completed. about occurrence status (operating procedure).
12 A robot designation Software operation (1) Reset the alarm, and then try again.
error occurred at JOG error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
operation using the NANCE mode, and then contact your YASKAWA representative
external reference about occurrence status (operating procedure).
point.
cubic interference co- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ordinates NANCE mode, and then contact your YASKAWA representative
14 Path control position Software operation (1) Reset the alarm, and then try again.
data error of preread- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing bank NANCE mode, and then contact your YASKAWA representative
16 Station/base axis mo- Software operation (1) Reset the alarm, and then try again.
tion command error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
18 User coordinates Software operation (1) Reset the alarm, and then try again.
number error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
19 Processing error in Software operation (1) Reset the alarm, and then try again.
re-preparation of seg- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ment control data NANCE mode, and then contact your YASKAWA representative
20 Prereading task not Software operation (1) Reset the alarm, and then try again.
completed at master error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in twin synchronous NANCE mode, and then contact your YASKAWA representative
system about occurrence status (operating procedure).
23 Dynamic model arith- Software operation (1) Reset the alarm, and then try again.
metic error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
24 Speed limit control er- Setting error (1) Check the following settings.
ror (excessive mo- ∙The allowable breaking torque was exceeded only by the gravity
ment of gravity) moment. Set the gravity value of the tool within payload of the ro-
bot.
∙Teach the robot orientation that does not become the overload
for each-axes of the robot.
25 Square root of a neg- Software operation (1) Reset the alarm, and then try again.
ative number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
26 The system number is Software operation (1) Reset the alarm, and then try again.
not set at master in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
twin synchronous NANCE mode, and then contact your YASKAWA representative
system. about occurrence status (operating procedure).
29 FORMCUT internal Software operation (1) Reset the alarm, and then try again.
Alarm list
control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2

- 807

2 - 808
Alarm list
No. Code
30 Arm interference Software operation (1) Reset the alarm, and then try again.
check error (radius error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
data referencing mis- NANCE mode, and then contact your YASKAWA representative
take) about occurrence status (operating procedure).
check error (miscal- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
culation using direct NANCE mode, and then contact your YASKAWA representative
kinematics) about occurrence status (operating procedure).
check error (L-axis error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
expansion flag setting NANCE mode, and then contact your YASKAWA representative
error) about occurrence status (operating procedure).
check error (check- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
point re-setting error) NANCE mode, and then contact your YASKAWA representative
34 Impossible to edit the Software operation (1) Reset the alarm, and then try again.
averaging buffer (zero error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
division) NANCE mode, and then contact your YASKAWA representative
35 No master-group is Software operation (1) Reset the alarm, and then try again.
designated at prepa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ration of master-tool NANCE mode, and then contact your YASKAWA representative
user coordinates. about occurrence status (operating procedure).
37 Gauging function er- Software operation (1) Reset the alarm, and then try again.
ror (command desig- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
nation error) NANCE mode, and then contact your YASKAWA representative
38 A coordinated motion Setting error (1) Check the following settings.
was attempted using ∙Change the setting so that only the robot moves.
the Following func- ∙The coordinated motion cannot be performed by the Following
tion. function.
No. Code
39 Zero or a negative Setting error (1) Check the following settings.
value is set for the ∙Set a positive value for the bending speed.
bending speed of the
Following function.
value is set for the ∙Set a positive value for the bending stroke.
bending stroke of the
Following function.
41 Pulse linked JOG Software operation (1) Reset the alarm, and then try again.
function error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
42 Special JOG opera- Software operation (1) Reset the alarm, and then try again.
44 Segment over less: Setting error (1) Check the following settings.
Segment excessive ∙The teaching position cannot hold down the speed by the seg-
error ment over less function. Reduce the teaching speed of the JOB.
Alarm list
2

- 809
2 - 810
Alarm list
No. Code
45 Segment over less: Software operation (1) Reset the alarm, and then try again.
Path calculation re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
peat error NANCE mode, and then contact your YASKAWA representative
47 Play path control: ini- Software operation (1) Reset the alarm, and then try again.
tialization error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
48 Play path control: Software operation (1) Reset the alarm, and then try again.
continue process er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Step continuous ini- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tialization error NANCE mode, and then contact your YASKAWA representative
step continuous mo- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion execution pro- NANCE mode, and then contact your YASKAWA representative
cess error about occurrence status (operating procedure).
54 Approximation model Software operation (1) Reset the alarm, and then try again.
internal control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
55 Pair coordinate sys- Software operation (1) Reset the alarm, and then try again.
tem position calcula- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion function error NANCE mode, and then contact your YASKAWA representative
No. Code
56 OPT higher accelera- Setting error (1) Check the following settings.
tion and deceleration ∙OPT higher acceleration and deceleration control is used.
control is not allowed ∙Don't use the OPT higher acceleration and deceleration control.
when Function accel-
eration and decelera-
tion control is
enabled.
57 Arithmetic error oc- Software operation (1) Reset the alarm, and then try again.
curred when calculat- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing the acceleration NANCE mode, and then contact your YASKAWA representative
and deceleration time about occurrence status (operating procedure).
(Function accelera-
tion and deceleration
control)
curred when recalcu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
lating the acceleration NANCE mode, and then contact your YASKAWA representative
and deceleration time about occurrence status (operating procedure).
(Function accelera-
control)
ing PL control NANCE mode, and then contact your YASKAWA representative
(Function accelera- about occurrence status (operating procedure).
control)
Alarm list
2
- 811
2 - 812
Alarm list
No. Code
ing Function NANCE mode, and then contact your YASKAWA representative
acceleration and de- about occurrence status (operating procedure).
celeration dry run.
ing current path of NANCE mode, and then contact your YASKAWA representative
continuous motion about occurrence status (operating procedure).
stop operation
ing next path of NANCE mode, and then contact your YASKAWA representative
continuous motion about occurrence status (operating procedure).
stop operation
ing acceleration time NANCE mode, and then contact your YASKAWA representative
when continuous mo- about occurrence status (operating procedure).
tion in the prereading
processing
ing deceleration time NANCE mode, and then contact your YASKAWA representative
when continuous mo- about occurrence status (operating procedure).
tion in the prereading
processing
ing acceleration and NANCE mode, and then contact your YASKAWA representative
deceleration time about occurrence status (operating procedure).
when teaching.
No. Code
deceleration time for about occurrence status (operating procedure).
plucking in preread-
ing processing 1
ing processing 2
ing processing 3
ing processing 4
deceleration for PL about occurrence status (operating procedure).
control plucking in
prereading process-
ing 1
Alarm list
2
- 813
2 - 814
Alarm list
No. Code
control plucking in
prereading process-
ing 2
deceleration for about occurrence status (operating procedure).
plucking
control in prereading
processing 1
processing 2
No. Code
processing 3
processing 4
processing 5
96 Press full synchro- Software operation (1) Reset the alarm, and then try again.
nous function: Press error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
synchronous execu- NANCE mode, and then contact your YASKAWA representative
tion error about occurrence status (operating procedure).
nous function: The error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
press position carried NANCE mode, and then contact your YASKAWA representative
out cycle movement about occurrence status (operating procedure).
over.
Alarm list
2
- 815
2 - 816
Alarm list
No. Code
98 Press full synchro- Software operation (1)Execute Position Adjustment Function to correct the position
nous function: Press error occurred gap between press position and the robot.
synchronous position ∙Confirm that both press and robot are maintained in stopped
error state.
∙Change the specific input: Position Correct Request (#40540) to
ON.
∙Execute the Press synchronization JOB again.
∙Wait for the specific output „Correcting position(#50683)“ to be-
come OFF and then start up the press.
nous function: Posi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion search error NANCE mode, and then contact your YASKAWA representative
102 Posture control error Software operation (1) Reset the alarm, and then try again.
105 Timing control func- Software operation (1) Reset the alarm, and then try again.
tion control group er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
106 Feedback approxima- Software operation (1) Reset the alarm, and then try again.
tion model table error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
queue control error NANCE mode, and then contact your YASKAWA representative
No. Code
107 Feedback approxima- Software operation (1) Reset the alarm, and then try again.
tion model data refer- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ence error NANCE mode, and then contact your YASKAWA representative
65535 For HA debug use Software operation (1) Reset the alarm, and then try again.
4209 OFFLINE SYSTEM 100 Data setting error in Software operation (1) Reset the alarm, and then try again.
ERROR (ARITH) offline data bank error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
101 Data setting error in Software operation (1) Reset the alarm, and then try again.
offline answer bank error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
102 OFF_USER_POS oc- Software operation (1) Reset the alarm, and then try again.
cupation control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
103 OFF_USER_POS Software operation (1) Reset the alarm, and then try again.
valid control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
104 Mail-receiving error of Software operation (1) Reset the alarm, and then try again.
offline task error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
105 Offline occupation Software operation (1) Reset the alarm, and then try again.
control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 817

2 - 818
Alarm list
No. Code
107 OFF_USER_ROT_- Software operation (1) Reset the alarm, and then try again.
POS occupation con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trol error NANCE mode, and then contact your YASKAWA representative
108 OFF_USER_ROT_- Software operation (1) Reset the alarm, and then try again.
POS valid control er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
109 OFF_CV_CALIB_- Software operation (1) Reset the alarm, and then try again.
POS occupation con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trol error NANCE mode, and then contact your YASKAWA representative
110 OFF_CV_CALIB_- Software operation (1) Reset the alarm, and then try again.
POS valid control er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
111 Incorrect teaching for Software operation (1) Reset the alarm, and then try again.
offline conveyor track- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing turntable function NANCE mode, and then contact your YASKAWA representative
112 No robot is designat- Software operation (1) Reset the alarm, and then try again.
ed for offline conveyor error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tracking turntable NANCE mode, and then contact your YASKAWA representative
4210 SYSTEM ERROR -1 Local variable is not Software operation (1) Reset the alarm, and then try again.
(LOCAL VARI- used. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ABLE) NANCE mode, and then contact your YASKAWA representative
-2 Memory area for local Software operation (1) Reset the alarm, and then try again.
variable could not be error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
obtained. NANCE mode, and then contact your YASKAWA representative
No. Code
-3 No unused handle Software operation (1) Reset the alarm, and then try again.
value exists when lo- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cal variable area is NANCE mode, and then contact your YASKAWA representative
created. about occurrence status (operating procedure).
-4 An error occurred in Software operation (1) Reset the alarm, and then try again.
exclusive control. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-5 Handle value is inval- Software operation (1) Reset the alarm, and then try again.
id for specified local error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
variable. NANCE mode, and then contact your YASKAWA representative
-6 Handle value is incor- Software operation (1) Reset the alarm, and then try again.
rect for specified local error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
variable. NANCE mode, and then contact your YASKAWA representative
-7 An error occurred Software operation (1) Reset the alarm, and then try again.
when memory area error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for local variable was NANCE mode, and then contact your YASKAWA representative
released. about occurrence status (operating procedure).
-8 An error occurred Software operation (1) Reset the alarm, and then try again.
when memory area error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for local variable was NANCE mode, and then contact your YASKAWA representative
registered. about occurrence status (operating procedure).
-9 Local variable control Software operation (1) Reset the alarm, and then try again.
process is not initial- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ized. NANCE mode, and then contact your YASKAWA representative
-10 Local variable area Software operation (1) Reset the alarm, and then try again.
shared heap area. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 819

2 - 820
Alarm list
No. Code
exclusive control error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
when control of the lo- NANCE mode, and then contact your YASKAWA representative
cal variable was pro- about occurrence status (operating procedure).
cessed.
4220 SERVO power OFF SUB-Code: Control Setting error (1) Check the following settings.
FOR JOB group ∙Turn OFF the SERVO power supply, and then turn ON the SER-
VO power supply for the group axis to be operated.
4221 SERVO power OFF SUB-Code: Control The SERVO power is ∙Turn OFF the SERVO power supply, and then turn ON the SER-
FOR JOB group not supplied. VO power supply for the group axis to be operated.
4224 MEMOPLAY FILE -1 An error occurred in Software operation (1) Reset the alarm, and then try again.
ERROR control process for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
memory play file. NANCE mode, and then contact your YASKAWA representative
-2 The arrangement ad- Software operation (1) Reset the alarm, and then try again.
dress information is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
destroyed for memory NANCE mode, and then contact your YASKAWA representative
play file system. about occurrence status (operating procedure).
-3 The fixed control in- Software operation (1) Reset the alarm, and then try again.
formation is de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
stroyed for memory NANCE mode, and then contact your YASKAWA representative
No. Code
-4 The fixed control in- Software operation (1) Reset the alarm, and then try again.
formation is de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
stroyed for memory NANCE mode, and then contact your YASKAWA representative
-5 An attempt was made Software operation (1) Reset the alarm, and then try again.
to newly register the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
memory play file un- NANCE mode, and then contact your YASKAWA representative
der use. about occurrence status (operating procedure).
checking written sam- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
pling data when the NANCE mode, and then contact your YASKAWA representative
data was written to about occurrence status (operating procedure).
CMOS.
-7 An attempt was made Software operation (1) Reset the alarm, and then try again.
to access an unused error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
memory play file data. NANCE mode, and then contact your YASKAWA representative
-8 The memory play file Software operation (1) Reset the alarm, and then try again.
is destroyed. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-9 The memory area for Software operation (1) Reset the alarm, and then try again.
sampling data is full. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-10 The sampling data is Software operation (1) Reset the alarm, and then try again.
destroyed. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 821
2 - 822
Alarm list
No. Code
-11 Data in control pro- Software operation (1) Reset the alarm, and then try again.
cess for memory play error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
file is incorrect. NANCE mode, and then contact your YASKAWA representative
-12 The sampling data is Software operation (1) Reset the alarm, and then try again.
scanned only at top or error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
end position. NANCE mode, and then contact your YASKAWA representative
-13 The memory play file Software operation (1) Reset the alarm, and then try again.
system is not initial- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ized. NANCE mode, and then contact your YASKAWA representative
-14 The offset value is out Software operation (1) Reset the alarm, and then try again.
of range at sampling error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
data scanning. NANCE mode, and then contact your YASKAWA representative
4225 OVER SPEED Signifies the control Setting error (1) Check the following settings.
(YCP21) axis number which ∙The gun tip hits the welded target distance of motor gun
detected an error ∙robot motion (external force, gravity)
∙The motor power line
∙The encoder line
Module failure (mo- (1) Reset the alarm.
tor) (2) If the alarm occurs again, replace the following unit.
∙The motor
No. Code
4226 COMMUNICATION 1 The communication Setting error (1) Check the following settings.
SERVICE ERROR channel could not be ∙Setting of the RS (transmission) parameter
opened/closed at
OPEN/CLOSE in-
struction execution.
100 The communication Setting error (1) Check the following settings.
port is already The serial port setting
opened.
101 The communication Setting error (1) Check the following settings.
port is not opened. The serial port setting
102 No space was found Setting error (1) Check the following settings.
in data sent buffer. The serial port setting
103 The setting value for Setting error (1) Reset the alarm.
the event queue des- (2)Check the following settings.
Alarm list
ignation parameter is ∙RS157…Set to 1 to 4
2
incorrect.
- 823
2 - 824
Alarm list
No. Code
105 The type of output Setting error (1) Reset the alarm.
data is incorrect. (2)Check the following settings.
The serial port setting
4228 WRONG DATA Software operation (1) Reset the alarm, and then execute following operation.
error occurred ∙Select a sub menu [WRONG DATA LOG] under main menu
[SETUP].
∙Execute "RESTORE" by selecting "UTILITY" from the pull-down
menu.
*Occurrence date changes to restoration date after it is restored.
∙Turn the power OFF and then ON to check the factor of the in-
consistency 1 and 2, on the data inconsistency screen in MAIN-
TENANCE mode.
The factor 1: Check the position of the corresponding file
The factor 2: Register the position of the corresponding file
again
*The factor 3:Just turn the power OFF and then ON again.
(2)If it would not restore, select "RE CHECK" from the pull-down
menu.
No. Code
Data error (1) If different axes configuration data is loaded, the system data
becomes incorrect status, which causes this alarm. In this case,
execute the following operations.
∙Select a sub menu [WRONG DATA LOG] under main menu
[SETUP].
∙Select "UTILITY" from the pull-down menu to execute "RE-
STORE".
∙Load correct axes configuration data
(2)If it would not restore, select "RE CHECK" from the pull-down
menu, and then load correct axes configuration data.
4229 ETHERNET PRO- 1 An error occurred in Setting error (1) Check the following settings.
CESS ERROR the acquisition pro- ∙The DHCP server operation (If the DHCP is used)
cess of the IP address ∙The network status (If the DHCP is used)
during the IP address
monitoring process of
Alarm list
2
- 825
2 - 826
Alarm list
No. Code
the acquisition pro- ∙The DHCP server operation (If the DHCP is used)
cess of subnet mask ∙The network status (If the DHCP is used)
during the network
service data creation
net function.
cess of gateway ∙The network status (If the DHCP is used)
during the network
net function.
No. Code
the conversion pro- ∙The DHCP server operation (If the DHCP is used)
cess of gateway ad- ∙The network status (If the DHCP is used)
dress during the
network service data
creation process of
the conversion pro- ∙The DHCP server operation (If the DHCP is used)
cess of DNS server ∙The network status (If the DHCP is used)
address during the
network service data
creation process of
Alarm list
2
- 827
2 - 828
Alarm list
No. Code
cess of domain during ∙The network status (If the DHCP is used)
the network service
data creation process
tion.
cess of SNTP server ∙The network status (If the DHCP is used)
during the network
net function.
No. Code
cess of host name ∙The network status (If the DHCP is used)
during the network
net function.
the newest DNS infor- ∙The DHCP server operation (If the DHCP is used)
mation getting pro- ∙The network status (If the DHCP is used)
cess from DHCP
server in the DNS
net function.
Alarm list
2
- 829
2 - 830
Alarm list
No. Code
the setting process to ∙The DHCP server operation (If the DHCP is used)
update DNS informa- ∙The network status (If the DHCP is used)
tion in the DNS pro-
cess of the Ethernet
function.
the setting clearing ∙The DHCP server operation (If the DHCP is used)
process to update ∙The network status (If the DHCP is used)
DNS information in
the DNS process of
No. Code
20 The subnet mask was Setting error (1) Check the following settings.
not able to be ac- ∙The DHCP server operation (If the DHCP is used)
quired in the DHCP ∙The network status (If the DHCP is used)
information update
net function.
21 Subnet mask update Setting error (1) Check the following settings.
error occurred in the ∙The DHCP server operation (If the DHCP is used)
DHCP information ∙The network status (If the DHCP is used)
update process of the
Ethernet function.
25 Gateway update error Setting error (1) Check the following settings.
occurred in the DHCP ∙The DHCP server operation (If the DHCP is used)
information update ∙The network status (If the DHCP is used)
Alarm list
2
net function.
- 831
2 - 832
Alarm list
No. Code
26 Gateway clear error Setting error (1) Check the following settings.
occurred in the DHCP ∙The DHCP server operation (If the DHCP is used)
information update
process of the Ether- ∙The network status (If the DHCP is used)
net function.
35 IP address duplica- Setting error (1)Check the following settings.
Software operation (1)Turn the power OFF then back ON.
No. Code
36 IP address duplica- Setting error (1)Check the following settings.
40 IP address can not be Setting error (1)Check the following settings and status.
gotten or can not be ·The DHCP server operation (If the DHCP is used)
updated via DHCP.
·The network status (If the DHCP is used)
Alarm list
2

- 833
2 - 834
Alarm list
No. Code
50 Gateway setting is Software operation (1)Turn the power OFF then back ON.
faulted. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4234 COMMUNICATION 0 The IO module board Software operation (1) Turn the power OFF then back ON.
TIMEOUT connected with 0th error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(IO MODULE) serial bus exists. NANCE mode, and then contact your YASKAWA representative
occurred.
timeout with the I/O O module
module board con- ∙I/O module settings in MAINTENANCE mode
nected with 1st serial
bus when the control
power turned ON.
No. Code
occurred.
nected with 2nd serial
power turned ON.
Alarm list
2
- 835
occurred.
2 - 836
Alarm list
No. Code
nected with 3rd serial
power turned ON.
∙The Mǁ communications cable which I/O module of the corre-
occurred.
No. Code
nected with 4th serial
power turned ON.
occurred.
Alarm list
2
power turned ON.

- 837
2 - 838
Alarm list
No. Code
occurred.
power turned ON.
∙The M ll communications cable which I/O module of the corre-
∙(In case of M ll communications last station) Terminator
No. Code
occurred.
power turned ON.
Alarm list
2
- 839
occurred.
2 - 840
Alarm list
No. Code
power turned ON.
occurred.
No. Code
power turned ON.
occurred.
nected with 10th seri-
al bus when the
Alarm list
2

- 841
ON.
2 - 842
Alarm list
No. Code
occurred.
al bus when the
ON.
No. Code
occurred.
al bus when the
ON.
Alarm list
2
- 843
2 - 844
Alarm list
No. Code
occurred.
al bus when the
ON.
occurred.
No. Code
al bus when the
ON.
·M II communications cable (CN114) of the YIF01 board
·M II communications cable (CN300) of the YIU unit
·(In case of M II communications last station) Terminator
·24V power of the YIU unit
occurred.
Alarm list
2
- 845
2 - 846
Alarm list
No. Code
al bus when the
ON.
occurred.
No. Code
timeout with the I/O ∙I/O module settings in MAINTENANCE mode
module board con-
nected with 1st PCI
connector when the
ON.
occurred.
with the I/O module ∙I/O module settings in MAINTENANCE mode
2nd PCI when the
ON.
Alarm list
2
- 847
2 - 848
Alarm list
No. Code
occurred.
module board con-
nected with 3rd PCI
er turned ON.
No. Code
occurred.
module board con-
nected with 4th PCI
er turned ON.
occurred.
Alarm list
2
- 849
2 - 850
Alarm list
No. Code
4236 SPOT WELDER -20 NADEX I/F board un- Setting error (1) Reset the alarm, and then try again.
ERROR (NADEX) connected. (2) If the alarm occurs again, check the connection with the NA-
DEX I/F board(XFB01B-2 board).
-21 JL012 access time Communication error (1) Reset the alarm, and then try again.
out. (2) If the alarm occurs again, check the connection and inserting
state of the following cable.
∙The communications cable for the I/O module
-22 JL012 data setting er- Communication error (1) Reset the alarm, and then try again.
ror. (2) If the alarm occurs again, check the connection and inserting
-23 DeviceNet response Communication error (1) Reset the alarm, and then try again.
error. (2) If the alarm occurs again, check the connection and inserting
∙The communications cable for the DeviceNet
-24 NADEX data sheet Software operation The connected NADEX spot welder isn't corresponded to.Save
format error. error occurred the CMOS.BIN in MAINTENANCE mode, and then contact your
YASKAWA representative about occurrence status (operating
procedure).
No. Code
-25 JL012 data overflow. Communication error (1) Reset the alarm, and then try again.
-100 Initialization error. Software operation (1) Reset the alarm, and then try again.
-102 Not found the spot Setting error Check the following settings.
welder number. ∙The parameter "AxP003:The maximum number of connected
spot welders".
-111 ASW file size over. Software operation The connected NADEX spot welder isn't corresponded to.Save
error occurred the CMOS.BIN in MAINTENANCE mode, and then contact your
procedure).
-117 System call error. Software operation (1) Reset the alarm, and then try again.
4240 TPS:ERROR SUB-Code: Welding Error occurred in the Confirm the following content.
power source num- Fronius power Step1: Check what kind of the error code is expressed on the front
ber. source. panel of Fronius power source.
Step2: Check according with the Fronius's manual.
Alarm list
2

- 851

2 - 852
Alarm list
No. Code
4241 MOTOWELD SYS- 1 Error from welder 1. Arc welding power When finish system reset, Shut down the welding power source.
TEM RESET source error
2 Error from welder 2. Arc welding power When finish system reset, Shut down the welding power source.
source error
source error
source error
source error
source error
No. Code
source error
source error
302 SUB-Code: Error No. Arc welding power When finish system reset, Shut down the welding power source.
from welder. source error
4242 MOTOWELD IN- 1 Error from welder 1. Arc welding power (1) Check if the output cable is short-circuited or grounded.
PUT OVER-CUR- source error (2) The power circuit may be broken.
RENT
Contact your YASKAWA representative.
2 Error from welder 2. Arc welding power (1) Check if the output cable is short-circuited or grounded.
source error (2) The power circuit may be broken.
Alarm list
2
- 853
2 - 854
Alarm list
No. Code
107 SUB-Code: Error No. Arc welding power (1) Check if the output cable is short-circuited or grounded.
from welder. source error (2) The power circuit may be broken.
4243 MOTOWELD OUT- 1 Error from welder 1. Arc welding power Confirm the following content.
PUT OVER-CUR- source error (1) Check that the torch cable or power cable is not grounded.
RENT (2) Check that the contact tip does not contact the welding work
piece.
(3) Check that the encoder cable is not damaged.
(4) Check if the screws of the connector terminal block are se-
curely fastened. If the encoder cable is disconnected or the
screws are loosened, the wire feeding speed becomes excessive-
ly fast and an error occurs in the wire feeding amount. Replace
the encoder cable or fasten the screws of the connector terminal
block.
No. Code
2 Error from welder 2. Arc welding power Confirm the following content.
source error (1) Check that the torch cable or power cable is not grounded.
(2) Check that the contact tip does not contact the welding work
piece.
block.
piece.
block.
Alarm list
2
- 855
2 - 856
Alarm list
No. Code
piece.
block.
piece.
block.
No. Code
piece.
block.
piece.
block.
Alarm list
2
- 857
2 - 858
Alarm list
No. Code
piece.
block.
701 SUB-Code: Error No. Arc welding power Confirm the following content.
from welder. source error (1) Check that the torch cable or power cable is not grounded.
piece.
block.
4244 MOTOWELD IN- 1 Error from welder 1. Arc welding power Confirm the input voltage.
PUT OVER-VOLT- source error
AGE
No. Code
2 Error from welder 2. Arc welding power Confirm the input voltage.
source error
source error
source error
source error
source error
Alarm list
2
source error
- 859
2 - 860
Alarm list
No. Code
source error
4245 MOTOWELD EX- 1 Error from welder 1. Arc welding power (1)Check the ambient temperature (40 degrees centigrade or
CESSIVE TEM- source error less) and operational ratio (60%).
PERATURE (2) Check if there are dust, dirt, and clogging on the dust protec-
tive filter. Clean or replace the dust protective filter if necessary.
(3)In case of RL350, Check the thermal guard (Item No.410).
2 Error from welder 2. Arc welding power (1)Check the ambient temperature (40 degrees centigrade or
source error less) and operational ratio (60%).
(2) Check if there are dust, dirt, and clogging on the dust protec-
No. Code
Alarm list
2
- 861

2 - 862
Alarm list
No. Code
102 The temperature in Arc welding power (1)Check the ambient temperature (40 degrees centigrade or
the primary control source error less) and operational ratio (60%).
circuit exceeds the (2) Check if there are dust, dirt, and clogging on the dust protec-
specified value of the tive filter. Clean or replace the dust protective filter if necessary.
welding source. (3)In case of RL350, Check the thermal guard (Item No.410).
the secondary control source error less) and operational ratio (60%).
circuit exceeds the (2) Check if there are dust, dirt, and clogging on the dust protec-
welding source. (3)In case of RL350, Check the thermal guard (Item No.318).
the DC reactor ex- source error less) and operational ratio (60%).
ceeds the specified (2) Check if there are dust, dirt, and clogging on the dust protec-
value of the welding tive filter. Clean or replace the dust protective filter if necessary.
source. (3)In case of RL350, Check the thermal guard of DCL2 (Item
No.312).
No. Code
the Main board Pr source error less) and operational ratio (60%).
(MB) exceeds the (2) Check if there are dust, dirt, and clogging on the dust protec-
welding source. (3)Replace the Main board Pr (MB)-030(Item No. 504).
4246 MOTOWELD IN- 1 Error from welder 1. Arc welding power Confirm the input voltage.
PUT UNDER-VOLT- source error
AGE
source error
source error
source error
Alarm list
2
- 863
2 - 864
Alarm list
No. Code
source error
source error
source error
source error
4247 MOTOWELD WA- 1 Error from welder 1. Arc welding power (1)Fill up the cooling water.
TER UNDER-FLOW source error (2)Check the circuit of cooling water.
2 Error from welder 2. Arc welding power (1)Fill up the cooling water.
source error (2)Check the circuit of cooling water.
No. Code
Alarm list
2

- 865
2 - 866
Alarm list
No. Code
703 SUB-Code: Error No. Arc welding power (1)Fill up the cooling water.
from welder. source error (2)Check the circuit of cooling water.
4248 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Confirm the following content.
TAL I/F WDG.ER- source error (1) The LAN cable has not damaged.
ROR
(2) The Ethernet protocol address setting is correct.
(Check that C parameter of the welding power source and RS pa-
rameter of the robot controller.)
(3) Welding power source is turn on.
source error (1) The LAN cable has not damaged.
No. Code
Alarm list
2
- 867
2 - 868
Alarm list
No. Code
No. Code
from welder. source error (1) The LAN cable has not damaged.
4249 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Check the Node of the each welder power sources and robot con-
TAL I/F NODE ER- source error troller.
ROR
2 Error from welder 2. Arc welding power Check the Node of the each welder power sources and robot con-
source error troller.
Alarm list
2
- 869

2 - 870
Alarm list
No. Code
402 SUB-Code: Error No. Arc welding power Check the Node of the each welder power sources and robot con-
from welder. source error troller.
4250 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Confirm the following content.
TAL I/F ERROR source error (1) LAN cable is not damaged.
(2) Protocol type of the VEW01 is correct. (is MOTOWELD type?)
No. Code
source error (1) LAN cable is not damaged.
Alarm list
2
- 871
2 - 872
Alarm list
No. Code
from welder. source error (1) LAN cable is not damaged.
4251 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Set the user file number 1...16.
TAL I/F FILE# ER- source error
ROR
2 Error from welder 2. Arc welding power Set the user file number 1...16.
source error
source error
No. Code
source error
source error
source error
source error
source error
404 SUB-Code: Error No. Arc welding power Set the user file number 1...16.
Alarm list
2

- 873
2 - 874
Alarm list
No. Code
4252 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Replace the main board {Pr(MB) -024}. Contact your YASKAWA
TAL I/F CHIP ER- source error representative.
ROR
2 Error from welder 2. Arc welding power Replace the main board {Pr(MB) -024}. Contact your YASKAWA
source error representative.
405 SUB-Code: Error No. Arc welding power Replace the main board {Pr(MB) -024}. Contact your YASKAWA
from welder. source error representative.
4253 MOTOWELD MA- 1 Error from welder 1. Arc welding power The setting of hardware or software may be not performed cor-
CHINE TYP.ER- source error rectly. Contact your YASKAWA representative.
ROR1
2 Error from welder 2. Arc welding power The setting of hardware or software may be not performed cor-
source error rectly. Contact your YASKAWA representative.
No. Code
304 SUB-Code: Error No. Arc welding power The setting of hardware or software may be not performed cor-
from welder. source error rectly. Contact your YASKAWA representative.
ROR2
Alarm list
2
- 875
2 - 876
Alarm list
No. Code
ROR3
ROR4
No. Code
4257 MOTOWELD PAN- 1 Error from welder 1. Arc welding power (1) Check the DIP switch setting of PR(CR) -002R1 board.
EL SW SETTING source error (2) PR(CR) -002R1 board may be broken. Contact your YASKA-
ERROR WA representative.
2 Error from welder 2. Arc welding power (1) Check the DIP switch setting of PR(CR) -002R1 board.
source error (2) PR(CR) -002R1 board may be broken. Contact your YASKA-
WA representative.
WA representative.
WA representative.
WA representative.
WA representative.
Alarm list
2
- 877
WA representative.
2 - 878
Alarm list
No. Code
WA representative.
303 SUB-Code: Error No. Arc welding power (1) Check the DIP switch setting of PR(CR) -002R1 board.
from welder. source error (2) PR(CR) -002R1 board may be broken. Contact your YASKA-
WA representative.
4258 MOTOWELD 1 Error from welder 1. Arc welding power Confirm the following content.
FEEDER ERROR source error (1)The encoder cable be not damaged?
(2)Isn't there loosening of the screw of the encoder cable connec-
tion terminal block?
When there are a disconnection of the encoder cable or loosening
of the screw, the wire feeding speed quickens abnormally, and it
becomes an abnormal amount of feeding. Replace the encoder
cable or fasten the screw of the terminal block.
(3)Check if the wire load becomes heavy. Make sure that the torch
cable and conduit cable are not bent excessively.
source error (1)The encoder cable be not damaged?
No. Code
Alarm list
2
- 879
2 - 880
Alarm list
No. Code
No. Code
Alarm list
2
- 881
2 - 882
Alarm list
No. Code
from welder. source error (1)The encoder cable be not damaged?
331 The status of dip Arc welding power (1)Confirm the feeder motor type.
switch for encoder cir- source error (2)Check the C parameter for feeder motor is correct.
cuit is different to the (3)Check the dip switch SW700 on the Main board Pr(MB).
encoder of the feeder
motor.
4259 MOTOWELD MO- 1 Error from welder 1. Arc welding power Check if the wire load becomes heavy. Make sure that the torch
TOR OVER-CUR- source error cable and coduit cable are not bent excessively.
RENT
2 Error from welder 2. Arc welding power Check if the wire load becomes heavy. Make sure that the torch
source error cable and conduit cable are not bent excessively.
No. Code
Alarm list
2

- 883
2 - 884
Alarm list
No. Code
502 SUB-Code: Error No. Arc welding power Check if the wire load becomes heavy. Make sure that the torch
from welder. source error cable and conduit cable are not bent excessively.
4260 MOTOWELD CPU 1 Error from welder 1. Arc welding power The board may be broken. Contact your YASKAWA representa-
ERROR1 source error tive.
2 Error from welder 2. Arc welding power The board may be broken. Contact your YASKAWA representa-
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
203 SUB-Code: Error No. Arc welding power The board may be broken. Contact your YASKAWA representa-
from welder. source error tive.
4261 MOTOWELD CPU 1 Error from welder 1. Arc welding power The board may be broken. Contact your YASKAWA representa-
ERROR2 source error tive.
source error tive.
source error tive.
No. Code
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
4262 MOTOWELD MEM- 1 Error from welder 1. Arc welding power The data may not have been correctly saved when the welding
ORY ERROR1 source error conditions are recorded because of a power failure, etc. Reset the
system after saving the changed parameters. (See the manual of
MOTOWELD "4.2.10 System Reset")
If the error occurs again, the board may be broken. Contact your
YASKAWA representative.
2 Error from welder 2. Arc welding power The data may not have been correctly saved when the welding
source error conditions are recorded because of a power failure, etc. Reset the
Alarm list
2
- 885
2 - 886
Alarm list
No. Code
No. Code
205 SUB-Code: Error No. Arc welding power The data may not have been correctly saved when the welding
from welder. source error conditions are recorded because of a power failure, etc. Reset the
Alarm list
2
- 887
2 - 888
Alarm list
No. Code
No. Code
Alarm list
2
- 889
2 - 890
Alarm list
No. Code
No. Code
Alarm list
2
- 891
2 - 892
Alarm list
No. Code
No. Code
Alarm list
2
- 893
2 - 894
Alarm list
No. Code
No. Code
Alarm list
2
- 895
2 - 896
Alarm list
No. Code
No. Code
4269 MOTOWELD 1 Error from welder 1. Arc welding power Check again the operation timing or signal cable connections.
Alarm list
2
STARTING SIGNAL source error The same error may occur at momentary power failure.
- 897
ERROR
2 - 898
Alarm list
No. Code
2 Error from welder 2. Arc welding power Check again the operation timing or signal cable connections.
source error The same error may occur at momentary power failure.
No. Code
601 SUB-Code: Error No. Arc welding power Check again the operation timing or signal cable connections.
from welder. source error The same error may occur at momentary power failure.
4270 MOTOWELD NO 1 Error from welder 1. Arc welding power Select a correct welding process in the using the welding user file.
WELDING TYPE source error
2 Error from welder 2. Arc welding power Select a correct welding process in the using the welding user file.
source error
source error
Alarm list
2
source error
- 899
2 - 900
Alarm list
No. Code
source error
source error
source error
source error
602 SUB-Code: Error No. Arc welding power Select a correct welding process in the using the welding user file.
No. Code
4271 MOTOWELD 1 Error from welder 1. Arc welding power (1)Check if the voltage detection wire is connected. Heck if the
VOLT.DETECT source error voltage detection line or the short-circuit cap is connected to the
WIRE ERROR CON7 of the MOTOWELD.
(2)Check that the contact tip does not contact the work piece to
be welded. Set the contact tip so as not to contact the work piece.
(3)Temporary power failure may have occurred.
2 Error from welder 2. Arc welding power (1)Check if the voltage detection wire is connected. Heck if the
source error voltage detection line or the short-circuit cap is connected to the
CON7 of the MOTOWELD.
Alarm list
2
- 901

2 - 902
Alarm list
No. Code
No. Code
702 SUB-Code: Error No. Arc welding power (1)Check if the voltage detection wire is connected. Heck if the
from welder. source error voltage detection line or the short-circuit cap is connected to the
4272 MOTOWELD 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
SAFTY-CIRCUIT source error
ERROR
2 Error from welder 2. Arc welding power Contact your YASKAWA representative.
source error
source error
source error
source error
Alarm list
2
source error
- 903
2 - 904
Alarm list
No. Code
source error
source error
101 SUB-Code: Error No. Arc welding power Contact your YASKAWA representative.
4273 MOTOWELD IGBT 1 Error from welder 1. Arc welding power Replace the IGBT device (Part code AJ0EL3870).
SHORT CIRCUIT source error
2 Error from welder 2. Arc welding power Replace the IGBT device (Part code AJ0EL3870).
source error
source error
source error
source error
No. Code
source error
source error
source error
104 SUB-Code: Error No. Arc welding power Replace the IGBT device (Part code AJ0EL3870).
4274 MOTOWELD VOLT- 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
AGE DETECTOR source error
ERROR
source error
source error
source error
Alarm list
2
- 905
source error
2 - 906
Alarm list
No. Code
source error
source error
source error
4275 MOTOWELD AUX. 1 Error from welder 1. Arc welding power The board may be broken. Contact your YASKAWA representa-
CIRCUIT OV. CUR- source error tive.
RENT
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
4276 MOTOWELD DSP 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
ADC ERROR source error
No. Code
source error
source error
source error
source error
source error
source error
source error
4277 MOTOWELD OUT- 1 Error from welder 1. Arc welding power (1) Check if the selection of motor is correct, or confirm the set-
SIDE OF source error tings of C parameter C09.
CURR.SETTING(H) (2) Check that the welding wire does not slip, or the wire is fed as
instructed by the feeding command.
(3) Check that the wire stick out is not excessively short or long.
(4) Check that the range set in C parameter C29 is not too narrow.
(5) Check if the wire, shielding, etc. are correctly set.
Alarm list
2
- 907
2 - 908
Alarm list
No. Code
2 Error from welder 2. Arc welding power (1) Check if the selection of motor is correct, or confirm the set-
source error tings of C parameter C09.
(2) Check that the welding wire does not slip, or the wire is fed as
No. Code
Alarm list
2
- 909
2 - 910
Alarm list
No. Code
790 SUB-Code: Error No. Arc welding power (1) Check if the selection of motor is correct, or confirm the set-
from welder. source error tings of C parameter C09.
4278 MOTOWELD OUT- 1 Error from welder 1. Arc welding power (1) Check if the selection of motor is correct, or confirm the set-
SIDE OF source error tings of C parameter C09.
CURR.SETTING(L) (2) Check that the welding wire does not slip, or the wire is fed as
No. Code
Alarm list
2
- 911
2 - 912
Alarm list
No. Code
No. Code
791 SUB-Code: Error No. Arc welding power (1) Check if the selection of motor is correct, or confirm the set-
from welder. source error tings of C parameter C09.
4279 MOTOWELD MO- 1 Error from welder 1. Arc welding power (1) Check that short-circuit or the earth grounded of the output ca-
MENTARY source error ble.
OVER-CURR (2)May be power circuit broken. Contact your YASKAWA repre-
sentative.
2 Error from welder 2. Arc welding power (1) Check that short-circuit or the earth grounded of the output ca-
source error ble.
(2)May be power circuit broken. Contact your YASKAWA repre-
sentative.
source error ble.
Alarm list
2
sentative.
- 913
2 - 914
Alarm list
No. Code
source error ble.
sentative.
source error ble.
sentative.
source error ble.
sentative.
source error ble.
sentative.
source error ble.
sentative.
108 SUB-Code: Error No. Arc welding power (1) Check that short-circuit or the earth grounded of the output ca-
from welder. source error ble.
sentative.
4280 MOTOWELD 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
OVER-VOLTAGE source error
source error
source error
source error
No. Code
source error
source error
source error
source error
4281 MOTOWELD +15V 1 Error from welder 1. Arc welding power Replace the switching power supply unit. (Service parts
POWER SUPPLY source error code:AJ0E35055)
ERROR
2 Error from welder 2. Arc welding power Replace the switching power supply unit. (Service parts
source error code:AJ0E35055)
Alarm list
2

- 915

2 - 916
Alarm list
No. Code
704 SUB-Code: Error No. Arc welding power Replace the switching power supply unit. (Service parts
from welder. source error code:AJ0E35055)
4282 MOTOWELD POW- 1 Error from welder 1. Arc welding power Replace the switching power supply unit. (Service parts
ER SUPPLY ER- source error code:AJ0E35055)
ROR
No. Code
Alarm list
2

- 917
2 - 918
Alarm list
No. Code
705 SUB-Code: Error No. Arc welding power Replace the switching power supply unit. (Service parts
from welder. source error code:AJ0E35055)
4283 MOTOWELD ILLE- 1 Error from welder 1. Arc welding power Confirm the welding process setting in the welding user file.
GAL WELD TYPE source error
2 Error from welder 2. Arc welding power Confirm the welding process setting in the welding user file.
source error
source error
source error
No. Code
source error
source error
source error
source error
406 A wrong welding pro- Arc welding power Confirm the welding process setting in the welding user file.
cess is set in the source error
welding user file.
407 A welding type is not Arc welding power Set a welding type to user file of MOTOWELD. The user file can
set in a user file of the source error setup in the editor screen for ARC START CONDITION FILE or
MOTOWELD. ARC END CONDITION FILE of the DX200.
Alarm list
2
- 919
2 - 920
Alarm list
No. Code
4284 MOTOWELD 310 The version of the Arc welding power Load the suitable database.
SOFTWARE MUL- data base is not suit- source error
FUNCTION able for the software
of the welding power
source.
311 The version informa- Arc welding power Replace the main board {Pr(MB) -030}.
tion of the PLD on the source error
main board Pr(MB) is
wrong.
312 The version of the Arc welding power Replace the front panel {Panel-CR30 unit}.
firmware of front pan- source error
el is not suitable for
the software of the
main board Pr(MB).
316 The check sum of the Arc welding power Replace the main board {Pr(MB) -030}.
PLD on the main source error
board Pr(MB) is
wrong.
No. Code
317 The program or data Arc welding power Reboot the power source.
base was load by the source error
ethernet.
318 The check sum error Arc welding power (1)Do not turn off the power source and reload the data.
of loading data. source error (2)In case of turn off and reboot was OK, reload the data.
(3)In case of turn off and reboot was NG, load the data by special
loading tool.
(4)Other case of step 1,2,3, replace the main board Pr(MB)-030.
400 Watch dog error of Arc welding power (1) Reboot the power source.
the PLD. source error (2) Replace the main board {Pr(MB) -030}.
4285 MOTOWELD MA- 320 The machine type is Arc welding power (1) Check the connection between front panel and main board.
CHINE SETTING wrong. source error (2) Check the status of dip switch (SW301) on the front panel.
ERROR (3) Replace the front panel.
(4) Replace the main board.
Alarm list
4286 MOTOWELD CUR- 330 The current class Arc welding power (1) Confirm the power source class which of 350A or 500A.
2
RENT CLASS ER- 350A / 500A setting is source error (2) Switch a status of dip switch SW600 which of 350A or 500A.
- 921
ROR wrong. (3)Change the software which for correct current class.
2 - 922
Alarm list
No. Code
4290 TPS:ERROR 1 no Prg Arc welding power Select a pre-programmed program.
SUB-Code[1**] source error Confirm the Fronius's manual.
shows the error code
of Fronius power
source
1:main error code
**:sub error code
2 ts1 Arc welding power Allow the machine to cool.
of Fronius power
source
2:main error code
**:sub error code
of Fronius power
source
3:main error code
**:sub error code
of Fronius power
source
4:main error code
**:sub error code
No. Code
5 tp1 Arc welding power Allow the machine to cool.
of Fronius power
source
5:main error code
**:sub error code
of Fronius power
source
6:main error code
**:sub error code
of Fronius power
source
7:main error code
**:sub error code
of Fronius power
source
8:main error code
**:sub error code
Alarm list
2
- 923
2 - 924
Alarm list
No. Code
of Fronius power
source
9:main error code
**:sub error code
of Fronius power
source
10:main error code
**:sub error code
11 Errtf1 Arc welding power Change the thermo-sensor on the sec. side.
of Fronius power
source
11:main error code
**:sub error code
12 Errtf2 Arc welding power Change the thermo-sensor on the sec. side.
of Fronius power
source
12:main error code
**:sub error code
No. Code
13 Errtf3 Arc welding power Check cable tree of temperature sensors.
of Fronius power
source
13:main error code
**:sub error code
14 Errtf4 Arc welding power Only for MagicWave power source.
of Fronius power
source
14:main error code
**:sub error code
15 Errtf5 Arc welding power Check cable tree of temperature sensors.
of Fronius power
source
15:main error code
**:sub error code
16 Errtf6 Arc welding power Change BPS pc-board.
of Fronius power
source
16:main error code
**:sub error code
Alarm list
2
- 925
2 - 926
Alarm list
No. Code
17 DSPE05 Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
17:main error code
**:sub error code
18 ErrbPS Arc welding power Update firmware, otherwise change the UST board or otherwise
SUB-Code[18**] source error change the BPS board.
shows the error code Confirm the Fronius's manual.
of Fronius power
source
18:main error code
**:sub error code
19 Err IP Arc welding power Change the BPS board.
SUB-Code[19**] source error Change the secondary diode.
shows the error code Change the welding transformer.
of Fronius power Confirm the Fronius's manual.
source
19:main error code
**:sub error code
20 DSPAxx Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
20:main error code
**:sub error code
No. Code
21 DSPExx Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
21:main error code
**:sub error code
22 ErrEPF Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
22:main error code
**:sub error code
23 Err23.x Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
23:main error code
**:sub error code
of Fronius power
source
24:main error code
**:sub error code
Alarm list
2
- 927
2 - 928
Alarm list
No. Code
SUB-Code[25**] source error Confirm the Fronius's manual
of Fronius power
source
25:main error code
**:sub error code
26 Err26.x Arc welding power Check whether the CfgMem has good contact to the connecting
SUB-Code[26**] source error cables and in the plug.
shows the error code Re-crimp if necessary.
of Fronius power If this does not help, remove and send to Fronius Austria, together
source with details of the series number of the machine.
26:main error code Confirm the Fronius's manual
**:sub error code
27 Err027 Arc welding power Measure the +24VDC of NT 24.
of Fronius power
source
27:main error code
**:sub error code
28 Err028 Arc welding power Change the cooling-unit temperature sensor.
of Fronius power
source
28:main error code
**:sub error code
No. Code
29 DSPC Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
29:main error code
**:sub error code
30 EFd Arc welding power Check the wire-feed system.
of Fronius power
source
30:main error code
**:sub error code
31 Err31 Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
31:main error code
**:sub error code
32 EcF Arc welding power Install correct primary BPS power module.
of Fronius power
source
32:main error code
**:sub error code
Alarm list
2
- 929
2 - 930
Alarm list
No. Code
33 tSt Arc welding power Allow the machine to cool.
of Fronius power
source
33:main error code
**:sub error code
34 Errtf7 Arc welding power Change the UST board.
of Fronius power
source
34:main error code
**:sub error code
35 DSP KL Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
35:main error code
**:sub error code
36 DSPnSy Arc welding power Update firmware, otherwise change the UST board
of Fronius power
source
36:main error code
**:sub error code
No. Code
37 US POL Arc welding power Change over the polarity of the two cables otherwise change the
SUB-Code[37**] source error UST board
shows the error code Confirm the Fronius's manual
of Fronius power
source
37:main error code
**:sub error code
38 -Stop- Arc welding power Deactivate the -Stop- by input -RobotReady- and activate briefly
SUB-Code[38**] source error -SourceErrorReset-.
of Fronius power
source
38:main error code
**:sub error code
39 NoH2O Arc welding power Check the coolant level and (if appropriate) the coolant return-
SUB-Code[39**] source error flow rate
shows the error code If necessary, clean the coolant filter.
of Fronius power Rate-of-flow watchdog may be defective.
source Confirm the Fronius's manual.
39:main error code
**:sub error code
49 Err049 Arc welding power Check the mains power supply.
SUB-Code[49**] source error Check all 3 phases.
of Fronius power
source
49:main error code
**:sub error code
Alarm list
2
- 931
2 - 932
Alarm list
No. Code
50 Err050 Arc welding power Disconnect NT60 or change/check NT24/UST/BPS/intermediate
SUB-Code[50**] source error circuit capacitors.
of Fronius power
source
50:main error code
**:sub error code
51 Err051 Arc welding power Mains voltage too low or NT 24 defective.
of Fronius power
source
51:main error code
**:sub error code
52 Err052 Arc welding power Mains voltage too high or NT 24 defective.
of Fronius power
source
52:main error code
**:sub error code
53 ErrPE Arc welding power Low-resistance connection between secondary and machine
SUB-Code[53**] source error housing find out the cause.
of Fronius power
source
53:main error code
**:sub error code
No. Code
54 Err054 Arc welding power Increase the bbc (burn-back control)
SUB-Code[54**] source error Switch off "Wire stick" in the set-up menu
shows the error code After the end of welding, make sure that the wire does not collide
of Fronius power with the workpiece when the torch is retracted.
source Confirm the Fronius's manual.
54:main error code
**:sub error code
55 NoIGn Arc welding power Set a lower Ito value
SUB-Code[55**] source error Keep the torch stand-off distance smaller before ignition.
of Fronius power
source
55:main error code
**:sub error code
56 Err056 Arc welding power Check how much wire is left on the spool
SUB-Code[56**] source error If necessary, change the spool.
of Fronius power
source
56:main error code
**:sub error code
57 NoGAS Arc welding power Check what volume of gas is still available.
of Fronius power
source
57:main error code
**:sub error code
Alarm list
2
- 933
2 - 934
Alarm list
No. Code
58 NoArc Arc welding power Check the seam.
of Fronius power
source
58:main error code
**:sub error code
59 Err059 Arc welding power
of Fronius power
source
59:main error code
**:sub error code
of Fronius power
source
60:main error code
**:sub error code
61 ErrArc Arc welding power
of Fronius power
source
61:main error code
**:sub error code
No. Code
62 Err062 Arc welding power Allow the machine to cool.
of Fronius power
source
62:main error code
**:sub error code
63 EIF Arc welding power Check the interface configuration.
of Fronius power
source
63:main error code
**:sub error code
64 Errtf8 Arc welding power Change the thermo-sensor of the cooling unit.
of Fronius power
source
64:main error code
**:sub error code
65 hotH2O Arc welding power Cool down the cooling liquid.
of Fronius power
source
65:main error code
**:sub error code
Alarm list
2
- 935
2 - 936
Alarm list
No. Code
66 tJo Arc welding power Allow the JOBMaster torch to cool.
of Fronius power
source
66:main error code
**:sub error code
67 ErrtJo Arc welding power Change JOBMaster pc-board.
of Fronius power
source
67:main error code
**:sub error code
of Fronius power
source
68:main error code
**:sub error code
69 Err069 Arc welding power New welding start.
of Fronius power
source
69:main error code
**:sub error code
No. Code
70 Err70 Arc welding power Check gas.
of Fronius power
source
70:main error code
**:sub error code
71 Err71 Arc welding power Check the welding seam.
of Fronius power
source
71:main error code
**:sub error code
72 ErrCfg Arc welding power Check LHSB connection.
of Fronius power
source
72:main error code
**:sub error code
73 noHost Arc welding power Check the connection between UST and RCU and the firmware.
of Fronius power
source
73:main error code
**:sub error code
Alarm list
2
- 937
2 - 938
Alarm list
No. Code
74 Touch Arc welding power Touch sensing mode activated - no error.
of Fronius power
source
74:main error code
**:sub error code
of Fronius power
source
75:main error code
**:sub error code
77 Err77 Arc welding power Check the wire feeding alignment if it is smooth.
of Fronius power
source
77:main error code
**:sub error code
78 E-Stop Arc welding power Close the Safety circuit and activate the Error reset.
of Fronius power
source
78:main error code
**:sub error code
No. Code
79 ErrU0 Arc welding power
of Fronius power
source
79:main error code
**:sub error code
80 Err080 Arc welding power Check the connection hose pack between power source and wire
SUB-Code[80**] source error feeder.
of Fronius power
source
80:main error code
**:sub error code
81 tP7hot Arc welding power Allow the machine to cool.
of Fronius power
source
81:main error code
**:sub error code
82 ErrEHF Arc welding power Allow the external HF to cool down.
of Fronius power
source
82:main error code
**:sub error code
Alarm list
2
- 939
2 - 940
Alarm list
No. Code
83 PHASE Arc welding power Check the mains supply cable of the power source.
of Fronius power
source
83:main error code
**:sub error code
100 UndOpc Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
100:main error code
**:sub error code
101 PrtFlt Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
101:main error code
**:sub error code
102 IllOpa Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
102:main error code
**:sub error code
No. Code
103 IllIna Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
103:main error code
**:sub error code
104 IllBus Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
104:main error code
**:sub error code
105 Err105 Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
105:main error code
**:sub error code
106 STKOVL Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
106:main error code
**:sub error code
Alarm list
2
- 941
2 - 942
Alarm list
No. Code
107 STKUVL Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
107:main error code
**:sub error code
108 ErrDog Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
108:main error code
**:sub error code
109 ASSErt Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
109:main error code
**:sub error code
110 EDg 1 Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
110:main error code
**:sub error code
4300 VERIFY ERROR Setting error (1) Reset the alarm.
(SERVO PARAME- (2) If the alarm occurs again, check whether the setting is within
TER) the allowable range.
No. Code
EAXA21 board failure (1) Reset the alarm
4301 CONTACTOR ER- SUB-Code: Signifies YPU unit failure (1) Reset the alarm.
ROR the physical No. of (2) Check the insertion and connection of the followings.
contactor in which the ∙YSF22-CN217
alarm occurred ∙YPU-CN607,CN-611
Before performing a (3) Check if the contactors (1KM and 2KM) are open, and not
connection check of damaged by melting or sticking.
the wiring, turn OFF (4) If the alarm occurs again, replace the YPU unit. Save the
the controller power. CMOS.BIN before replacing the unit to be safe.
Make sure that all the
LEDs of SERVO-
PACK and converter
are OFF, then verify
that no electricity is
charged using equip-
ment such as a tester.
This process may
take a few minutes af-
ter shutting off the
power.
YSF22 board failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
then back ON.)
Alarm list
2

- 943
2 - 944
Alarm list
No. Code
4302 BRAKE CIRCUIT Software operation (1) Reset the alarm.
ERROR error occurred (2) If the alarm occurs again, replace the EAXA21 board. Save the
4303 CONVERTER SUB-Code: Signifies Connection failure (1) Reset the alarm.
READY SIGNAL the physical No. of (2) If the alarm occurs again, check the connection and inserting
ERROR converter in which the state of the following cables and connectors.
alarm occurred ∙YPU unit-CN604
∙EAXA21 board CN507
∙Converter-CN553,554,555
YPU unit failure (1) Reset the alarm.
(2)Check if the contactors (1KM and 2KM) are open, and not dam-
aged by melting or sticking.
(3) If the alarm occurs again, replace the YPU unit. Save the
Module failure (con- (1) Reset the alarm.
No. Code
4304 CONVERTER IN- SUB-Code: Signifies YPU unit failure (1) Reset the alarm.
PUT POWER ER- the physical No. of (2) Check if the contactors (1KM and 2KM) are open, and not
ROR converter in which the damaged by melting or sticking.
alarm occurred (3) If the alarm occurs again, replace the YPU unit. Save the
∙EAXA21-CN507,510
∙EAXB21-CN08
∙YPU-CN602
Module failure (con- (1) Reset the alarm
4305 CONVERTER CIR- SUB-Code: Signifies Connection failure (1) Reset the alarm.
CUIT CHARGE ER- the physical No. of (2) If the alarm occurs again, check the connection and inserting
ROR converter in which the state of the following cables and connectors.
alarm occurred
∙Converter-CN556
Module failure (Re- Check if there is no ground fault in the regeneration resistors.
Alarm list
2
- 945
2 - 946
Alarm list
No. Code
4306 AMPLIFIER READY SUB-Code: Signifies Connection failure (1) Reset the alarm.
SIGNAL ERROR the axis in which the (2) If the alarm occurs again, check the connection and inserting
alarm occurred state of the following cables and connectors.
∙EAXA21-CN501 to 506,CN510
∙EAXB21-CN531,532,533
∙Amplifier-CN581,582
∙Converter-CN551,552A,552B
verter) (2) If the alarm occurs again, check if the LED (green) for amplifier
is lighted up when SERVO power is ON.
(3) If it is lighted, replace the converter.
Module failure (ampli- (1) Reset the alarm.
fier) (2) If the alarm occurs again, replace the corresponding amplifier.
(2) If the alarm occurs again, replace the EAXA/EAXB board.

4307 SERVO ON DE- SUB-Code: Signifies Mechanical failure Check that the robot is not moving when the SERVO turned ON.
FECTIVE SPEED the axis in which the
alarm occurred
YBK21 board failure Check that the brake has not been released because the brake
relay is broken.
No. Code
Connection failure (1) Reset the alarm(2) If the alarm occurs again, check the con-
[Robot axis]
·EAXA21-CN501 to 506
·Amplifier-CN581, CN584
·Power supply cable (Power cable)
[External axis]
·EAXB21-CN531,532,533
·EX1SV (External axis SERVO PACK) -CN591
4308 VOLTAGE DROP SUB-Code: Signifies Voltage failure Check if the primary power supply voltage is dropping.
(CONVERTER) the physical No. of
converter in which the
alarm occurred
Connection failure (1) Reset the alarm
∙EAXA21-CN507,510 ∙EAXB21-CN531,532,533
∙EX1SV (External axis SERVO PACK) - CN591,592
Alarm list
2
- 947
2 - 948
Alarm list
No. Code
Module failure (con- (1) Reset the alarm.(In case of major alarm, turn the power OFF
verter) then back ON.)
DEFECTIVE EN- SUB-Code: Signifies Connection failure (1) Reset the alarm.
CODER INTERNAL the axis in which the (2) If the alarm occurs again, check the connection and inserting
DATA alarm occurred state of the following cables and connectors.
{Robot axis}
∙Cables between encoders
∙EAXA21-CN508
{External axis}
∙EAXB21-CN534,535,536
Module failure (en- (1) Reset the alarm.
4310 ENCODER OVER- SUB-Code: Signifies Overheated encoder Turn OFF the DX200 power for approx. 10 minutes, then turn it
HEAT the axis in which the ON again.
alarm occurred
High ambient tem- Adjust the ambient temperature to 40 or less.
perature
No. Code
(2) If the alarm occurs again, replace the EAXA, EAXB board.
4311 ENCODER BACK- SUB-Code: Signifies Module failure {AL-4314 occurred}
UP ERROR the axis in which the (encoder battery) Replace the battery of the axis in which the error occurred.
alarm occurred {AL-1327 occurred}
Replace the battery of the axis in which the alarm occurred. If the
home position of the corresponding axis is displayed as "***", reg-
ister the home position again.
AL-1327 occurs due to the battery disconnection (weak battery),
causing undefined alarm data.
If the alarm doesn't occur after turning the power OFF and then

[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
Alarm list
2
- 949

2 - 950
Alarm list
No. Code
4312 ENCODER BAT- Module failure Replace the battery.
TERY ERROR (encoder battery)

4315 COLLISION DE- SUB-Code: Signifies Setting error Check the following settings.
TECT the axis in which the ∙The tool information
alarm occurred ∙The selection tap of the transfer
∙The collision detection level
∙JOB
∙Work
∙The speed of JOB
∙The acceleration/deceleration speed of ACC and DEC
∙Length of the power cables ∙Diameter of the power cables
Interference error Remove the following interferences.
∙The interferences to the jigs of Robot.
∙The interferences to the jigs of workpieces.
∙If there is no interference between robot and workpieces, set the
shock detection level to more than maximum eternal value. Up to
500% can be set.
No. Code
Acceleration limit This alarm occurs when excessive load is applied to the motor
over upon the satisfactions of all the following conditions;
∙The acceleration/deceleration is automatically calculated by the

robot's position at start/end point
∙The JOB is stopped by category 1 stop or HOLD stop
∙Compared to the start/end point, excessive load is applied to the
motor according to the position
<Remedy>
Adjust the acceleration/deceleration by ACC and DEC for the
teaching position.
Also, make sure to run the machine enough before operation
when this alarm occurs at low temperature environment (ambient
temperature: 10 )
∙EAXA21- CN501 to 506,CN510
∙EAXB21- CN531,532,533
∙Amplifier - CN581,582
∙Converter - CN551,552A,552B
∙EX1SV (External axis SERVO PACK) - CN591,592,595
Connection failure (1) If the alarm occurs again, check the wiring of phase-U, -V, and
-W isn't disconnected.
(2) If disconnected, replace the motor power wire.
Connection failure (1) Check that the motor brake wire is not disconnected.
(2) If disconnected, replace the motor brake wire.
YBK21 board failure (1) Reset the alarm.
Alarm list
2

- 951
2 - 952
Alarm list
No. Code
Maintenance failure Measure the density of grease iron powder in the speed reducer
and do the MAINTENANCE.
Defective speed re- Replace the speed reducer or the grease of it.
ducer
4316 PRESSURE DATA SUB-Code: Signifies Setting error Check the following settings.
LIMIT the axis in which the ∙The gun pressure file
alarm occurred ∙The dry spotting pressure file
*Reset the pressure value in the gun pressure file below the max-
imum pressure value
4317 PRELOAD ERROR SUB-Code: Signifies Effect of external Adjust the gun opening.
the axis in which the force
alarm occurred
4318 SERIAL ENCODER SUB-Code: Signifies Connection failure (1) Reset the alarm.
CORRECTION LIM- the axis in which the (2) If the alarm occurs again, check the connection and inserting
IT alarm occurred state of the following cables and connectors.
[Robot axis]
∙EAXA21-CN508
[External axis]
∙EAXB21-CN0534,535,536
No. Code
4319 PRELOAD ERROR SUB-Code: Signifies Effect of external Move the gun axis to another position by manual operation and
2 the axis in which the force then turn the SERVO power on again.
alarm occurred
4320 OVERLOAD SUB-Code: Signifies Setting error Check the following settings.
(CONTINUE) the axis in which the ∙The tools or the mass of the workpieces
alarm occurred
Interference with pe- Check if the robot interferes with any objects such as workpieces
ripheral devices or peripheral devices. If interferes, remove the object.
Setting error Review the JOB to check if the load factor doesn't exceed 100%.
YBK21 board failure (1)Check if the power has been applied to the brake voltage of the
following terminal.
Check that the brake has not been locked due to malfunction of
the contactor.
∙YBK21-CN400
∙Motor brake terminal
(2) If any error is found, replace the YBK21 board.
Alarm list
2
∙The wire harness in the robot.

- 953
2 - 954
Alarm list
No. Code
4321 OVERLOAD SUB-Code: Signifies Setting error Check the following settings.
(MOMENT) the axis in which the ∙The tools or the mass of the workpieces
alarm occurred
Interference error Check if the robot interferes with any objects such as workpieces
or peripheral devices. If interferes, remove the object.
YBK21 board failure (1)Check if the power has been supplied to the brake voltage of
the following terminal.
the contactor.
∙YBK21-CN400
No. Code
4322 AMPLIFIER OVER- SUB-Code: Signifies Setting error Check the following settings.
LOAD (CONTINUE) the axis in which the ∙The tools or the mass of the workpieces
alarm occurred
the contactor.
∙YBK21-CN400
Alarm list
2
- 955
2 - 956
Alarm list
No. Code
4323 AMPLIFIER OVER- SUB-Code: Signifies Setting error Check the following settings.
LOAD (MOMENT) the axis in which the ∙The tools or the mass of the workpieces
alarm occurred
the contactor.
∙YBK21-CN400
No. Code
4324 CONVERTER Setting error ∙Confirm that the tool and workpiece in use don't exceed the per-
OVERLOAD missible load.
∙Adjust the JOB speed.
(2) If the alarm occurs again, replace the EAXA21/EAXB21 board.
4326 OVER SPEED SUB-Code: Signifies Setting error If the alarm occurs at the same site, check the following setting.
the axis in which the ∙Set the lower motion speed around the site where the alarm oc-
alarm occurred curs.
If the alarm occurs for the motor gun, check the following settings.
∙Setting of the touch speed
∙Setting of the touch pressure
Connection failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
then back ON.)
(2) If the alarm occurs again, check the wiring of phase-U, -V, and
-W is correct.
Alarm list
2

- 957

2 - 958
Alarm list
No. Code
4327 WRONG MOTOR SUB-Code: Signifies Connection failure (1) Reset the alarm.
ROTATION the axis in which the (2) If the alarm occurs again, check the connection and insertion
Motor power cable
∙Amplifier-CN584
∙EX1SV(External axis SERVO pack)-CN595
∙Power supply cable (Power cable)
Encoder cable
∙EAXA21-CN508
∙EAXB21-CN534,535,536
{Controller for painting use}
·YIS22 board-CNPGA,CNPGB,CNPGC,CNPG123,CPG456,
CPG7
·YIS23 board-CNPGD,CNPG1,CNPG2,CNPG3
4328 SERVO TRACK- SUB-Code: Signifies Setting error Check the following settings.
ING ERROR the axis in which the ∙The tools or the mass of the workpieces
alarm occurred
No. Code
Acceleration limit This alarm occurs when excessive load is applied to the motor
over upon the satisfactions of all the following conditions;
∙The acceleration/deceleration is automatically calculated by the
robot's position at start/end point
∙The JOB is stopped by category 1 stop or HOLD stop
∙Compared to the start/end point, excessive load is applied to the
motor according to the position
<Remedy>
Adjust the acceleration/deceleration by ACC and DEC for the
teaching position.
Also, make sure to run the machine enough before operation
when this alarm occurs at low temperature environment (ambient
temperature: 10° C)
Connection failure (1)Reset the alarm.
·Amplifier-CN584
·EX1SV(External axis SERVO pack)-CN595
·Motor power wiring
·EAXB21 board-CN534,CN535,CN536
{Controller for painting use}
·YIS22 board-CNPGA,CNPGB,CNPGC,CNPG123,CPG456,
CPG7
·YIS23 board-CNPGD,CNPG1,CNPG2,CNPG3
Alarm list
2
- 959
2 - 960
Alarm list
No. Code
the contactor.
∙YBK21-CN400
4329 SAFETY SPEED 11 The motion speed at Setting error Check the following settings.
ERROR (SERVO) the center of the ∙Reduction in the motion speed
flange exceeded the
specified max. speed.
(R1)
Setting error Reset the alarm, and then try again.
(2) If the alarm occurs again, check that U-, V- and W-phase are
appropriately connected.
No. Code
12 The motion speed at Setting error Check the following settings.
the center of the ∙Reduction in the motion speed
flange exceeded the
(R1).
the center of the con- ∙Reduction in the motion speed
trol point exceeded
the specified max.
speed. (R1)
Alarm list
2
- 961
2 - 962
Alarm list
No. Code
trol point exceeded
the specified max.
speed. (R1)
No. Code
flange exceeded the
(R2)
flange exceeded the
(R2)
Alarm list
2
- 963

2 - 964
Alarm list
No. Code
trol point exceeded
the specified max.
speed. (R2)
trol point exceeded
the specified max.
speed. (R2)
No. Code
flange exceeded the
(R3)
flange exceeded the
(R3)
Alarm list
2
- 965
2 - 966
Alarm list
No. Code
trol point exceeded
the specified max.
speed. (R3)
No. Code
trol point exceeded
the specified max.
speed. (R3)
flange exceeded the
(R4)
Alarm list
2
- 967

2 - 968
Alarm list
No. Code
flange exceeded the
(R4)
trol point exceeded
the specified max.
speed. (R4)
No. Code
trol point exceeded
the specified max.
speed. (R4)
flange exceeded the
(R5)
Alarm list
2
- 969
2 - 970
Alarm list
No. Code
flange exceeded the
(R5)
No. Code
trol point exceeded
the specified max.
speed. (R5)
trol point exceeded
the specified max.
speed. (R5)
Alarm list
2
- 971

2 - 972
Alarm list
No. Code
flange exceeded the
(R6)
flange exceeded the
(R6)
No. Code
trol point exceeded
the specified max.
speed. (R6)
trol point exceeded
the specified max.
speed. (R6)
Alarm list
2
- 973
2 - 974
Alarm list
No. Code
flange exceeded the
(R7)
No. Code
flange exceeded the
(R7)
trol point exceeded
the specified max.
speed. (R7)
Alarm list
2
- 975

2 - 976
Alarm list
No. Code
trol point exceeded
the specified max.
speed. (R7)
flange exceeded the
(R8)
No. Code
flange exceeded the
(R8)
trol point exceeded
the specified max.
speed. (R8)
Alarm list
2
- 977
2 - 978
Alarm list
No. Code
trol point exceeded
the specified max.
speed. (R8)
No. Code
4330 BROKEN SPEED Connection failure (1) Reset the alarm.
MONITOR LINE (2) If the alarm occurs again, check the connection and inserting
∙Speed monitor unit
4331 SPEED MONITOR EAXA21 board failure (1) Reset the alarm.
LEVEL ERROR (2) If the alarm occurs again, replace the EAXA21 board. Save the

4334 OVERVOLTAGE SUB-Code: Signifies Connection failure (1) Reset the alarm.
alarm occurred ∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EX1SV (External axis SERVO PACK)-CN591,592
∙The load mounted on the robot
200V(+10% to 15%).
Module failure (1)Disconnect the converter CN557 to check if there is no cable
(Regenerative resis- disconnection.
tor) (2)If disconnected, replace the regenerative resistor.
Alarm list
2
- 979
2 - 980
Alarm list
No. Code

4335 GROUND FAULT SUB-Code: Signifies Connection failure (1) Turn the power OFF then back ON.
the axis in which the (2) If the alarm occurs again, check the connection and inserting
alarm occurred. state of the following cables and connectors.
(If the alarm occurred ∙EAXA21-CN507,510
at an axis which is ∙Converter CN551,553,555
driven by a common ∙EX1SV (External axis SERVO PACK)-CN592
converter, all the sub- ∙YPU unit-CN604
ject axes are indicat-
ed.)
Check the axis in which earth fault occurs in the alarm history
screen.
If both robot axes and external axes use the same type converter,
the earth fault may occur on the external axis not the robot axis.
(There is also a possibility that it is stained by water)
(1) External axis cables (Power wire)

(2) Traveling axis cable (Power wire)
(3) Power supply cable (Robot axis, external axis) (Power wire)
(4) Internal cables (Robot axis, external axis) (Power wire)
Module failure (Re- Check if there is no ground fault in the regeneration resistors.
No. Code
GND wiring failure (1) Turn the power OFF then back ON.
(2) If the alarm repeats, check the voltage of the primary power
and GND. If the voltage amount on each RST varies more than
100V, review the GND setting.
tactor) (2) If the alarm occurs again, replace the contactor.
CMOS.BIN before replacing the YPU unit to be safe.
4336 OPEN PHASE SUB-Code: Signifies Connection failure (1) Reset the alarm.
∙EAXB21-CN531,532,533
∙EX1SV (External axis SERVO PACK)-CN591, CN592
200V(+10% to 15%).
Alarm list
2
CMOS.BIN before replacing the YPU unit to be safe.

- 981
2 - 982
Alarm list
No. Code
4337 OVERCURRENT SUB-Code: Signifies Connection failure (1) Reset the alarm.
(AMP) the axis in which the (2) If the alarm occurs again, check the connection and inserting
∙EAXA21-CN501 to 506,CN510
∙EAXB21-CN531,532,533
∙EX1SV (External axis SERVO PACK)-CN591,592,595
∙robot cable
∙Supply cable
No. Code
4338 REGENERATIVE SUB-Code: Signifies Connection failure (1) Reset the alarm.
TROUBLE (CON- the axis in which the (2) If the alarm occurs again, check the connection and inserting
VERTER) alarm occurred state of the following cables and connectors.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙Converter-CN557
∙Cable between the regenerative resistors
Module failure (Re- Replace the regenerative resistor.
Overloading Check that the load does not exceed the allowable limit.
4339 INPUT POWER SUB-Code: Signifies Voltage failure Modify the primary breaker voltage to the specified voltage
OVER VOLTAGE the physical No. of 200V(+10% to15%).
(CONV) converter in which the
alarm occurred
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Alarm list
2

- 983
2 - 984
Alarm list
No. Code

4340 TEMPERATURE SUB-Code: Signifies Install failure Check that the air inlet or outlet is not blocked.
ERROR (CON- the physical No. of
VERTER) converter in which the
alarm occurred
High ambient tem- Adjust the ambient temperature to 40°C or less.
perature
200V(+10% to 5%).
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
4342 SV DRESS SPEED SUB-Code: Signifies Metal pieces getting Check if metal pieces getting into dresser blades prevent the
ERR the axis in which the into dresser blades dresser from rotating.
alarm occurred
Setting error Check if the "SPEED FLUCTUATION LIMIT" setting in TIP
DRESS CONDITION file is too small.
Connection failure (1Reset the alarm.
∙Amplifier-CN584
∙Motor power wiring
the contactor.
∙YBK21-CN400
Alarm list
2
- 985
2 - 986
Alarm list
No. Code
Other If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
4343 SV DRESS SPEED SUB-Code: Signifies Metal pieces getting Check if metal pieces getting into dresser blades prevent the
ERR (UNDER the axis in which the into dresser blades dresser from rotating.
PRESS) alarm occurred
∙"PRESS CONDITION" setting in TIP DRESS CONDITION file is
too small. (Check if they are too high.)
∙"SPEED FLUCTUATION LIMIT" setting in TIP DRESS CONDI-
TION file. (Check if it is too small).
∙Amplifier-CN584
∙Motor power wiring
YBK21 board failure (1) Check if the power has been supplied to the brake voltage of
the contactor.
∙YBK21-CN400
No. Code
4344 LINEAR SERVO- Setting error (1) Check the settings for JOBs.
FLOAT TRACKING (2) Reset the alarm.
ERROR
4345 LNK SERVOFLOAT SUB-Code: Signifies Setting error (1) Check the settings for JOBs.
EXECUTE ERROR the axis in which the (2) Reset the alarm.
alarm occurred
4346 LNK SERVOFLOAT SUB-Code: Signifies Setting error (1) Check the limit torque of the link SERVO float condition file.
TRQ LIMIT ERROR the axis in which the (2) Reset the alarm.
alarm occurred
4347 LNR SERVO- SUB-Code: Signifies Setting error (1) Check the limit torque of the link SERVO float condition file.
FLOAT TRQ LIMIT the axis in which the (2) Reset the alarm.
ERROR alarm occurred
Alarm list
2
- 987
2 - 988
Alarm list
No. Code
4348 LNR SERVO- SUB-Code: Signifies Setting error (1) Check the setting file of the JOB and the linear SERVO float.
FLOAT COORD linear SERVO float (2) Reset the alarm.
TYPE ERROR condition file number
in which the alarm oc-
curred
4349 LNR SERVO- Setting error (1) Check the setting file of the JOB and the linear SERVO float.
FLOAT TOOL (2) Reset the alarm.
POSE ERROR
4350 LNR SERVO- SUB-Code: Signifies Setting error (1) Check the settings for JOBs.
FLOAT EXECUTE the axis in which the (2) Reset the alarm.
4351 DRIVE BELT SNAP SUB-Code: Signifies Driving belt failure (1) Check that the driving belt is not broken.
DETECT the axis in which the (2) If the driving belt is broken, replace the driving belt.
alarm occurred
No. Code
4352 TWIN DRIVE OVER SUB-Code: Signifies Connection failure (1) Reset the alarm.
DEVIATION the axis in which the (2) If the alarm occurs again, check the connection and inserting
∙EAXA21-CN501 to 506,CN510
∙EAXB21-CN531,532,533
∙Converter CN551,552A,552B
∙EX1SV (External axis SERVO PACK)-CN591,592,595
Connection failure (1) If the alarm occurs again, check the wiring of phase-U, -V, and
(motor power) -W isn't disconnected.
(2) If disconnected, replace the motor power wire.
Connection failure (1) Check that the motor brake wire is not disconnected.
(motor brake) (2) If disconnected, replace the motor brake wire.
YBK21 board failure (1) Turn the power OFF then back ON.
4353 DEFECTIVE SUB-Code: Signifies Setting error Check the following settings.
TAUGHT POINT the axis in which the ∙Setting of the command soft (JOB)
(ENDLESS) alarm occurred ∙MRESET instruction to corresponding axis
Alarm list
2

- 989
2 - 990
Alarm list
No. Code
4354 FILE NO. ERROR SUB-Code: File num- Setting error Do not use the collision detection file for exclusive use for the
(SHOCK LEVEL) ber SVSPOT with the SHCKSET instruction.
4355 EXTERNAL PRES SUB-Code: Signifies Setting error Check the settings for JOBs.
DETECT (SERVO- the axis in which the
FLOAT) alarm occurred
4356 ARM CTRL PA- Setting error Check the settings for JOBs.
RAMETER ERR
(OBSERVER)
4357 IMPOSSIBLE Setting error Check the settings for JOBs.
SRCH (EQUALIZE
TEACH)
4358 DUPLICATED Setting error End the current pressuring operation, and then execute the pres-
PRESS ERROR suring instruction.
No. Code
4359 CONVERTER ER- SUB-Code: Signifies Connection failure (1) Reset the alarm.
ROR the physical No. of (2) If the alarm occurs again, check the connection and inserting
∙EAXB21-CN531,532,533
4360 WAFER ALIGN- Connection failure Check the connection of prealigner.
MENT ERROR
(SERVO)
4362 POWER SUPPLY Connection failure (1) Reset the alarm.
READY ERROR (2) If the alarm occurs again, check the connection and inserting
(SERVO) state of the following cables and connectors.
∙EAXA21-CN501 to 506,CN510
∙EAXB21-CN531,532,533
EAXA21 board failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
then back ON.)
Alarm list
2
- 991

2 - 992
Alarm list
No. Code
4363 BASE BLOCK SIG- Connection failure (1) Reset the alarm.
NAL ERROR (SER- (2) If the alarm occurs again, check the connection and inserting
VO) state of the following cables and connectors.
∙EAXA21-CN501 to 506,CN510
∙EAXB21-CN531,532,533
4364 GUN SOFTLIMIT SUB-Code: Signifies Setting error Check the following settings.
the axis in which the ∙Home position of gun axis
alarm occurred
[Released side]
Reset the software limit of released side gun.
(Parameter S1CxG400 or 408)
[Closed side]
Reset the software limit at the gun closed side.
Add the moving amount of tip wear.
(Parameter S1CxG400 or 408)
No. Code
4365 TOUCH DETECT Setting error Check the following settings.
DATA OVER ∙Home position of gun axis
∙"ALLOAWABLE TOUCH RANGE" in the GUN DETAIL SETTING
file
∙"PULSE - STROKE" setting in the GUN CONDITION file.
4366 GUN BEND COM- SUB-Code: Signifies Setting error Check if this model is supported.
PENSATION SET the group in which the
4367 ROBOT POSE ER- SUB-Code: Signifies Setting error (1)Check the teaching position.
ROR the axis in which the (2)In case the alarm occurs at SVSPOT or SVSPOTMOV instruc-
alarm occurred tion, if you disable the gun arm bend compensation by specifying
the BCOFF tag to the instruction, the alarm won't occur.
4371 SYSTEM ERROR 161 Automatic test data Software operation (1) Reset the alarm, and then try again.
(SERVO) error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
250 Control filter error. Software operation (1) Reset the alarm, and then try again.
Alarm list
2
- 993
2 - 994
Alarm list
No. Code
7101 The override ratio is Software operation (1) Reset the alarm, and then try again.
No. Code
7610 Gun Auto-tuning error Software operation (1) Reset the alarm, and then try again.
4372 SERVO ON SIG- Connection failure Check the connections between YPU unit and EAXA21 board.
NAL ERROR Replace the YPU unit.
4378 CANNOT EXE- SUB-Code: Signifies Connection failure (1) Reset the alarm.
CUTE BRAKE LINE the axis in which the (2) If the alarm occurs again, check the brake connection.
CHECK alarm occurred
other other If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
Alarm list
2

- 995
2 - 996
Alarm list
No. Code
4379 SAFETY RELAY SUB-Code: Signifies Setting error (1) Check the following settings.
ERROR (SERVO) the control axis num- ∙Check the settings for CONNECTION(STO/CONTACTOR) in
ber which detected an MAINTENANCE mode
error ∙When CONNECTION setup is CONTACTOR, check that the
safety function's jumper connector is inserted in EAXA21 board
CN521, or EAXB21 board CN522/523/524.
∙EAXA21 board CN521(Safety function's jumper connector)
∙EAXB21 board CN522/523/524(Safety function's jumper con-
nector)
∙YSF22 board CN217
EAXB21 board failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the EAXB21 board. Save the
4398 PULSE LIMIT(SER- SUB-Code: Control Setting error (1) Check the following settings.
VO) group and axis ·Perform the teaching again to correct positions for robots so that
the step where the alarm occurred is within the motion range.
No. Code
4400 NOT READY 1 The arithmetic pro- Software operation (1) Reset the alarm, and then try again.
(ARITH) cess for motion con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trol did not complete NANCE mode, and then contact your YASKAWA representative
within regulated time. about occurrence status (operating procedure).
No motion command
was prepared.
2 The arithmetic pro- Software operation (1) Reset the alarm, and then try again.
cessing section is not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ready for JOG opera- NANCE mode, and then contact your YASKAWA representative
ready for the playback NANCE mode, and then contact your YASKAWA representative
operation. about occurrence status (operating procedure).
4 The prereading pro- Software operation (1) Reset the alarm, and then try again.
cessing in the arith- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
metic processing NANCE mode, and then contact your YASKAWA representative
section has not com- about occurrence status (operating procedure).
pleted.
ready for the timer fol- NANCE mode, and then contact your YASKAWA representative
low-up of the convey- about occurrence status (operating procedure).
or tracking function.
pleted when specify-
ing the target position.
Alarm list
2
- 997
2 - 998
Alarm list
No. Code
pleted.
4401 SEQUENCE TASK 1 Unused A_BANK Software operation (1) Reset the alarm, and then try again.
CONTR ERROR does not exist in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
prereading process- NANCE mode, and then contact your YASKAWA representative
ing of move instruc- about occurrence status (operating procedure).
tion.
2 Unused bank priority Software operation (1) Reset the alarm, and then try again.
does not exist in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion.
5 A_BANK pointer is Software operation (1) Reset the alarm, and then try again.
not set. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
6 A_BANK conversion Software operation (1) Reset the alarm, and then try again.
could not be per- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
formed. NANCE mode, and then contact your YASKAWA representative
7 The specified Software operation (1) Reset the alarm, and then try again.
A_BANK number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
does not exist. NANCE mode, and then contact your YASKAWA representative
20 An error occurred Software operation (1) Reset the alarm, and then try again.
when system number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(MSS) was obtained. NANCE mode, and then contact your YASKAWA representative
No. Code
RMS960 system call. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
22 Undefined interrupt Software operation (1) Reset the alarm, and then try again.
command was re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ceived. NANCE mode, and then contact your YASKAWA representative
23 JOB start condition is Software operation (1) Reset the alarm, and then try again.
not defined. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
instruction prefetch error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
queue operation. NANCE mode, and then contact your YASKAWA representative
26 Intermediate code is Software operation (1) Reset the alarm, and then try again.
29 Instruction prereading Software operation (1) Reset the alarm, and then try again.
processing has not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
been completed nor- NANCE mode, and then contact your YASKAWA representative
mally. about occurrence status (operating procedure).
JOB data change. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
31 The specified se- Software operation (1) Reset the alarm, and then try again.
quence number at error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
JOB execution start is NANCE mode, and then contact your YASKAWA representative
2
- 999
incorrect. about occurrence status (operating procedure).

2 - 1000
Alarm list
No. Code
32 The added area for in- Software operation (1) Reset the alarm, and then try again.
terruption command error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
33 System number Software operation (1) Reset the alarm, and then try again.
(MSS) for interruption error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
command is incor- NANCE mode, and then contact your YASKAWA representative
rect. about occurrence status (operating procedure).
38 An error occurred at Software operation (1) Reset the alarm, and then try again.
start of twin synchro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
nous operation. NANCE mode, and then contact your YASKAWA representative
when SYNC specifi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cation was reset. NANCE mode, and then contact your YASKAWA representative
occupation control error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
group setting in MO- NANCE mode, and then contact your YASKAWA representative
path/trace control. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
when waiting for a error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
completion of main NANCE mode, and then contact your YASKAWA representative
system task (JOB) in about occurrence status (operating procedure).
SYNC specification.
No. Code
48 An attempt was made Software operation (1) Reset the alarm, and then try again.
to execute an instruc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion that could not be NANCE mode, and then contact your YASKAWA representative
executed at line se- about occurrence status (operating procedure).
quence execution.
while obtaining the in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
struction information. NANCE mode, and then contact your YASKAWA representative
80 An exceptional error Software operation (1) Reset the alarm, and then try again.
occurred in JOB exe- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cution process. NANCE mode, and then contact your YASKAWA representative
100 Main processing Software operation (1) Reset the alarm, and then try again.
command is incorrect error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in prereading pro- NANCE mode, and then contact your YASKAWA representative
cessing. about occurrence status (operating procedure).
101 SUB processing com- Software operation (1) Reset the alarm, and then try again.
mand is incorrect in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing. about occurrence status (operating procedure).
102 Prereading process- Software operation (1) Reset the alarm, and then try again.
ing has not been com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
pleted at JOB NANCE mode, and then contact your YASKAWA representative
execution. about occurrence status (operating procedure).
has not been com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
pleted. NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 1001
2 - 1002
Alarm list
No. Code
(MSS) is incorrect in error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
instruction prefetch error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
queue operation in NANCE mode, and then contact your YASKAWA representative
prereading process- about occurrence status (operating procedure).
ing.
IES switching in pre- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
reading processing. NANCE mode, and then contact your YASKAWA representative
4402 UNDEFINED COM- Software operation (1) Reset the alarm, and then try again.
MAND (ARITH) error (2)Check the following settings.
Setting error ∙the base-axis position must be registered for the system with
base-axis MOVL P00001 BP00001
4403 NDEFINED IOSP- SUB-Code: Control Setting error (1) Check the following settings.
DCTRL HOME POS group ·Register the home position for IOSPDCTRL axis.
4404 ARITHMETIC ER- 8 Interpolation such as Setting error (1) Check the following settings.
ROR linear and circular in- ∙Change the step (move instruction), where the alarm occurred, to
terpolation cannot be MOVJ.
performed with this
robot.
No. Code
10 The setting of the Setting error (1) Check the following settings.
form data for Flip/No ∙Set "1" to "S2C658: Type data detail settings".
Flip is not "B-axis An-
gle. "
to pass the B-axis ∙Check the teaching position of the JOB so that the robot does not
zero degree position pass the B-axis zero degree position (singular area).
(singular area).
to pass the B-axis ·Check the teaching position of the JOB so that the robot does not
zero degree position pass the B-axis zero degree position (singular area).
(singular area) during
interpolation.
13 Wrist axis tended to Setting error (1) Check the following settings.
rotate to the inverse ·Check the teaching position of the JOB so that a wrist axis does
with the teaching di- not inverse rotation.
rection.
Alarm list
2
- 1003
2 - 1004
Alarm list
No. Code
4406 GROUP AXIS CON- 1 Designation error for Software operation (1) Reset the alarm, and then try again.
TROL ERROR master and slave error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2 Slave designation er- Software operation (1) Reset the alarm, and then try again.
3 Slave interpolation er- Software operation (1) Reset the alarm, and then try again.
4 No designation of Software operation (1) Reset the alarm, and then try again.
master axis error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
6 Master-axis designa- Software operation (1) Reset the alarm, and then try again.
tion error for JOG mo- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion NANCE mode, and then contact your YASKAWA representative
7 Slave-axis designa- Software operation (1) Reset the alarm, and then try again.
tion error for JOG mo- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion NANCE mode, and then contact your YASKAWA representative
8 Occupation control Software operation (1) Reset the alarm, and then try again.
occupation control for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
JOG motion NANCE mode, and then contact your YASKAWA representative
No. Code
occupation control for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Bank position NANCE mode, and then contact your YASKAWA representative
occupation control error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
group for tracking mo- NANCE mode, and then contact your YASKAWA representative
tion about occurrence status (operating procedure).
12 No master and slave Software operation (1) Reset the alarm, and then try again.
designated for track- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing motion NANCE mode, and then contact your YASKAWA representative
4407 TWO STEPS SAME Setting error (1) Check the following settings.
POSITION (CIRC) ∙Check the settings for teaching position of circular interpolation
steps so that each point is different.
POSITION ∙Check the settings for teaching position of spline interpolation
(SPLINE) step so that each point is different.
POSITION (3 ∙Check the settings for three taught points to create an user coor-
STEPS) dinate system so that each point is different.
Alarm list
2
- 1005
2 - 1006
Alarm list
No. Code
POSITION (WEAV) ∙Check the settings for taught points (start, end, and reference
points) so that each point is different.
4411 TEACH ERROR Setting error (1) Check the following settings.
(SPLINE) ∙Check the settings for the teaching position of spline interpolation
section so that the distance between the teaching points is even.
4412 IMPOSSIBLE LIN- Setting error (1) Check the following settings.
EAR MOTION (L/U) ∙Perform the teaching again to make the form of L- and U-axes
same at start point and end point.
∙Use a MOVJ instruction again.
4413 IMPOSSIBLE LIN- Setting error (1) Check the following settings.
EAR MOTION (S/L) ∙Perform the teaching position again to make the form of S- and
L-axes same at start point and end point.
Use a MOVJ instruction again.
4414 EXCESSIVE SEG- SUB-Code: Control Setting error (1)Reduce the speed in the step where the alarm occurred.
MENT group and axis (2)Change the move instruction to joint interpolation (MOVJ).
(LOW/HIGH) * Be careful to the peripheral interference since its movement
changes.
No. Code
4416 PULSE LIMIT SUB-Code: Control Setting error (1) Check the following settings.
(MIN./MAX.) group and axis ∙Perform the teaching again to correct positions for robots so that
4418 CUBE LIMIT SUB-Code: Control Setting error (1) Check the following settings.
(MIN./MAX.) group and XYZ ∙Perform the teaching again to correct positions for robots so that
4420 SPECIAL SOFT- SUB-Code: Control Setting error (1) Check the following settings.
LIMIT (MIN./MAX.) group and axis ∙Perform the teaching again to correct positions for robots so that
4422 MECHANICAL IN- SUB-Code: Control Setting error (1) Check the following settings.
TERFERENCE group and axis ∙Perform the teaching again to correct positions for robots so that
(MIN./MAX.) the step where the alarm occurred is within the motion range.
4424 SPECIAL ME- SUB-Code: Control Setting error (1) Check the following settings.
CHANICAL IN- group and axis ∙Perform the teaching again to correct positions for robots so that
Alarm list
TRF(MIN./MAX.) the step where the alarm occurred is within the motion range.
2
- 1007
2 - 1008
Alarm list
No. Code
4426 PULSE MECHANI- SUB-Code: Control Setting error (1) Check the following settings.
CAL LIMIT(MIN./ group and axis ∙Perform the teaching again to correct positions for robots so that
MAX.) the step where the alarm occurred is within the motion range.
4428 SEGMENT CON- 1 RT-buffer control Software operation (1) Reset the alarm, and then try again.
TROL ERROR command error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2 Segment-receiving Software operation (1) Reset the alarm, and then try again.
control command er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3 No bank priority Software operation (1) Reset the alarm, and then try again.
4 Answer error at Software operation (1) Reset the alarm, and then try again.
MOVE simulating error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 The value of bank_re- Software operation (1) Reset the alarm, and then try again.
fresh_flag(x) exceed- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ed its limit. NANCE mode, and then contact your YASKAWA representative
No. Code
8 RT-buffer tracking op- Software operation (1) Reset the alarm, and then try again.
9 The segment was re- Software operation (1) Reset the alarm, and then try again.
ceived although the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
previous segment NANCE mode, and then contact your YASKAWA representative
had not been sent. about occurrence status (operating procedure).
4429 WRONG SPECI- 1 Control group not Software operation (1) Reset the alarm, and then try again.
FIED CONTROL designated error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
GROUP NANCE mode, and then contact your YASKAWA representative
2 Slave control-group Software operation (1) Reset the alarm, and then try again.
3 Master control-group Software operation (1) Reset the alarm, and then try again.
4 Master and Slave Software operation (1) Reset the alarm, and then try again.
control-group error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 Control-group error Software operation (1) Reset the alarm, and then try again.
for a JOB file error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for a user coordinate error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1009

2 - 1010
Alarm list
No. Code
for a calibration file error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
between robots NANCE mode, and then contact your YASKAWA representative
for a tool calibration error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
10 Control-group error Software operation (1) Reset the alarm, and re-select the JOB from [select JOB] win-
for prereading-calcu- error occurred dow before starting the JOB again .
lation start point (for (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
adv_st_pos) NANCE mode, and then contact your YASKAWA representative
for the current-value error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
preset position NANCE mode, and then contact your YASKAWA representative
for the conveyor pre- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
reading calculation NANCE mode, and then contact your YASKAWA representative
start point about occurrence status (operating procedure).
13 Occupation control- Software operation (1) Reset the alarm, and then try again.
group error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for SERVO hand error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
for the prereading cal- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
culation start point NANCE mode, and then contact your YASKAWA representative
(for dm_st_pos) about occurrence status (operating procedure).
for prereading calcu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
lation start point (for NANCE mode, and then contact your YASKAWA representative
dm_st_pos) about occurrence status (operating procedure).
for paint gun error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4430 CPU COMMUNICA- 1 Interrupt processing Software operation (1) Reset the alarm, and then try again.
TION ERROR error between MO- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
TION section and NANCE mode, and then contact your YASKAWA representative
tion
2 Interrupt processing Software operation (1) Reset the alarm, and then try again.
error between MO- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
SL#1 about occurrence status (operating procedure).
Alarm list
2
- 1011
2 - 1012
Alarm list
No. Code
CV#1 about occurrence status (operating procedure).
No. Code
4431 JHM ERROR 1 An error occurred in Software operation (1) Reset the alarm, and then try again.
JMS system call error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
when an attempt was NANCE mode, and then contact your YASKAWA representative
made to open a JOB. about occurrence status (operating procedure).
2 No space was found Software operation (1) Reset the alarm, and then try again.
in JOB handle value error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
storage area when an NANCE mode, and then contact your YASKAWA representative
attempt was made to about occurrence status (operating procedure).
open a JOB.
3 No JOB handle was Software operation (1) Reset the alarm, and then try again.
found. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 JOB control propri- Software operation (1) Reset the alarm, and then try again.
etary is incorrect. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 JOB control propri- Software operation (1) Reset the alarm, and then try again.
etary could not be error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
changed. NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 1013
2 - 1014
Alarm list
No. Code
4432 INSTRUCTION IN- 1 The intermediate Software operation (1) Reset the alarm, and then try again.
TERPRETER ER- code of the instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ROR that is to be executed NANCE mode, and then contact your YASKAWA representative
is incorrect. about occurrence status (operating procedure).
3 Destination (variable) Software operation (1) Reset the alarm, and then try again.
tag arrangement is in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
correct. NANCE mode, and then contact your YASKAWA representative
4 Tag data type is incor- Software operation (1) Reset the alarm, and then try again.
rect. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 Box number is incor- Software operation (1) Reset the alarm, and then try again.
rect. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
block separation pro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cessing of intermedi- NANCE mode, and then contact your YASKAWA representative
ate code. about occurrence status (operating procedure).
8 Box number definition Software operation (1) Reset the alarm, and then try again.
is duplicated. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
9 Undefined instruction Software operation (1) Reset the alarm, and then try again.
was found at block error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
separation of interme- NANCE mode, and then contact your YASKAWA representative
diate code. about occurrence status (operating procedure).
10 IPRM is not set. Software operation (1) Reset the alarm, and then try again.
No. Code
tag data search pro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cess. NANCE mode, and then contact your YASKAWA representative
move instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
search process. NANCE mode, and then contact your YASKAWA representative
14 Variable information Software operation (1) Reset the alarm, and then try again.
does not exist. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
position file data read- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing. NANCE mode, and then contact your YASKAWA representative
17 Variable data type is Software operation (1) Reset the alarm, and then try again.
18 An instruction is in- Software operation (1) Reset the alarm, and then try again.
cluded with incorrect error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
intermediate code in NANCE mode, and then contact your YASKAWA representative
expression instruc- about occurrence status (operating procedure).
tion.
19 The syntax in expres- Software operation (1) Reset the alarm, and then try again.
sion instruction is in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 1015
2 - 1016
Alarm list
No. Code
20 The tag data length is Software operation (1) Reset the alarm, and then try again.
zero when tag data is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
read. NANCE mode, and then contact your YASKAWA representative
21 The necessary tag Software operation (1) Reset the alarm, and then try again.
data is not set. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
22 The object to be pro- Software operation (1) Reset the alarm, and then try again.
cessed was secret error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
variable in position file NANCE mode, and then contact your YASKAWA representative
control process, so it about occurrence status (operating procedure).
could not be pro-
cessed.
23 The object to be pro- Software operation (1) Reset the alarm, and then try again.
cessed was position error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
type variable in posi- NANCE mode, and then contact your YASKAWA representative
tion file control pro- about occurrence status (operating procedure).
cess, so it could not
be processed.
24 JOB argument set- Software operation (1) Reset the alarm, and then try again.
tings do not match error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
when a variable is giv- NANCE mode, and then contact your YASKAWA representative
en and/or taken be- about occurrence status (operating procedure).
tween JOBs.
to perform undefined error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
operation at four-rule NANCE mode, and then contact your YASKAWA representative
operation instruction. about occurrence status (operating procedure).
26 Arithmetic stack used Software operation (1) Reset the alarm, and then try again.
for expression opera- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion exceeded. NANCE mode, and then contact your YASKAWA representative
No. Code
27 Arithmetic stack used Software operation (1) Reset the alarm, and then try again.
for expression opera- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion is empty. NANCE mode, and then contact your YASKAWA representative
28 Operation items are Software operation (1) Reset the alarm, and then try again.
lacking in expression error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
operation and opera- NANCE mode, and then contact your YASKAWA representative
tion processing can- about occurrence status (operating procedure).
not be performed.
29 The number of exe- Software operation (1) Reset the alarm, and then try again.
cuting the SUB in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
struction with EXEC NANCE mode, and then contact your YASKAWA representative
processing exceeded about occurrence status (operating procedure).
the maximum num-
ber.
30 An error occurred by Software operation (1) Reset the alarm, and then try again.
the setting of the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
character-string type NANCE mode, and then contact your YASKAWA representative
variable in the ARGF about occurrence status (operating procedure).
instruction.
31 The intermediate Software operation (1) Reset the alarm, and then try again.
code of IFEXPRESS error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
instruction is incor- NANCE mode, and then contact your YASKAWA representative
32 The syntax of IFEX- Software operation (1) Reset the alarm, and then try again.
PRESS instruction is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
incorrect. NANCE mode, and then contact your YASKAWA representative
33 The number of com- Software operation (1) Reset the alarm, and then try again.
ponents of the IFEX- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
PRESS instruction NANCE mode, and then contact your YASKAWA representative
2
- 1017
exceeded. about occurrence status (operating procedure).

2 - 1018
Alarm list
No. Code
34 The stack used for ex- Software operation (1) Reset the alarm, and then try again.
ecuting the IFEX- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
overflowed. about occurrence status (operating procedure).
35 The stack used for ex- Software operation (1) Reset the alarm, and then try again.
ecuting the IFEX- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
did underflow. about occurrence status (operating procedure).
36 The reinterpretation Software operation (1) Reset the alarm, and then try again.
of the instruction was error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ordered when execut- NANCE mode, and then contact your YASKAWA representative
ing the instruction. about occurrence status (operating procedure).
37 Tag data (box num- Software operation (1) Reset the alarm, and then try again.
ber) of the instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
that is to be executed NANCE mode, and then contact your YASKAWA representative
is not supported. about occurrence status (operating procedure).
254 Access mechanism Software operation (1) Reset the alarm, and then try again.
for old parameters is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
used. NANCE mode, and then contact your YASKAWA representative
occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4433 UNDEFINED 0 The set data for byte Software operation (1) Reset the alarm, and then try again.
GLOBAL VARI- type variable area is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ABLE incorrect. NANCE mode, and then contact your YASKAWA representative
1 The set data for inte- Software operation (1) Reset the alarm, and then try again.
ger type variable area error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
2 The set data for dou- Software operation (1) Reset the alarm, and then try again.
ble-precision integer- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
type variable area is NANCE mode, and then contact your YASKAWA representative
3 The set data for real Software operation (1) Reset the alarm, and then try again.
type variable area is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
incorrect. NANCE mode, and then contact your YASKAWA representative
4 The set data for char- Software operation (1) Reset the alarm, and then try again.
acter-string type vari- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
able area is incorrect. NANCE mode, and then contact your YASKAWA representative
5 The set data for robot- Software operation (1) Reset the alarm, and then try again.
axis position-type error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
variable area is incor- NANCE mode, and then contact your YASKAWA representative
6 The set data for base- Software operation (1) Reset the alarm, and then try again.
axis position-type error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
variable (S1D param- NANCE mode, and then contact your YASKAWA representative
eter) area is incorrect. about occurrence status (operating procedure).
7 The set data for sta- Software operation (1) Reset the alarm, and then try again.
tion-axis position-type error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
variable (S1D param- NANCE mode, and then contact your YASKAWA representative
eter) area is incorrect. about occurrence status (operating procedure).
4435 UNDEFINED LO- 0 The byte type variable Setting error (1) Check the following settings.
CAL-VARIABLE is not defined. ∙Set the number of local variables to be used in the JOB header.
1 The integer type vari- Setting error (1) Check the following settings.
Alarm list
2
able is not defined. ∙Set the number of local variables to be used in the JOB header.
- 1019
2 - 1020
Alarm list
No. Code
2 The double-precision Setting error (1) Check the following settings.
integer-type variable ∙Set the number of local variables to be used in the JOB header.
is not defined.
3 The real-number type Setting error (1) Check the following settings.
variable is not de- ∙Set the number of local variables to be used in the JOB header.
fined.
4 The character-string Setting error (1) Check the following settings.
type variable is not ∙Set the number of local variables to be used in the JOB header.
defined.
5 The robot-axis posi- Setting error (1) Check the following settings.
tion-type variable is ∙Set the number of local variables to be used in the JOB header.
not defined.
6 The base-axis posi- Setting error (1) Check the following settings.
not defined.
No. Code
7 The station-axis posi- Setting error (1) Check the following settings.
not defined.
4436 LESS THAN 3 Setting error (1) Check the following settings.
STEPS (CIRCU- ∙Perform teaching so that circulation interpolation steps are con-
LAR) tinuous three points or more.
4437 LESS THAN 3 Setting error (1) Check the following settings.
STEPS (SPLINE) ∙Perform teaching so that spline interpolation steps are continu-
ous three points or more.
4438 UNDEFINED JOB Setting error (1) Check the following settings.
∙Check if the CALL/JUMP destination JOB is registered. If the
JOB is not registered, delete the JUMP instruction where an
alarm occurred.
4439 UNDEFINED LA- Setting error (1) Check the following settings.
Alarm list
BEL ∙Check if the JUMP destination label is registered. If the label is
2
- 1021
not registered, delete the JUMP instruction where alarm occurred.

2 - 1022
Alarm list
No. Code
4440 UNDEFINED RE- Setting error (1) Check the following settings.
TURN JOB ∙If there is an illegal RET instruction in the start JOB, delete the
RET instruction.
∙Check if RET instruction is not executed under the condition that
there is no JOB in the JOB call stack. In that case, execute it from
master (start) JOB.
4441 LACK OF LOCAL- Setting error (1) Check the following settings.
VARIABLE AREA ∙Reduce the number of local variables to be used.
4444 UNSUCCESSFUL SUB-Code:The low- Effect of external (1) Check the following settings.
FINE POSITION- est eight bits → Bit force ∙Move the robot by the axis operation, etc. to remove the external
ING specification of axis force of axis where alarm occurred.
where error occurred.
The highest eight bits
→ Bit specification of
control group num-
ber(0-31) where error
occurred.
No. Code
4445 DATA PRESET ER- 1 The token for pre- Software operation (1) Reset the alarm, and then try again.
ROR reading processing error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
could not be obtained. NANCE mode, and then contact your YASKAWA representative
cessing has not been error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
completed within the NANCE mode, and then contact your YASKAWA representative
time, and the waiting about occurrence status (operating procedure).
time for completion
exceeded the limit.
3 The prereading oper- Software operation (1) Reset the alarm, and then try again.
ation processing has error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
not been completed NANCE mode, and then contact your YASKAWA representative
within the time, and about occurrence status (operating procedure).
the waiting time for
completion exceeded
the limit.
prereading operation error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
process. NANCE mode, and then contact your YASKAWA representative
has not been com- error occurred (2) If the alarm occurs again, turn the main power of controller off
pleted. and then turn it on. Re-select the JOB from [select JOB] window
before starting the JOB again.
(3) If the alarm occurs again even though you do above (2), save
the CMOS.BIN in MAINTENANCE mode, and then contact your
procedure).
occurred in JOB exe- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
cution process. NANCE mode, and then contact your YASKAWA representative
- 1023

2 - 1024
Alarm list
No. Code
4446 OVER VARIABLE 0 The variable value ex- Setting error (1) Check the following settings.
LIMIT ceeded the limit. ∙Check the settings for variable, and then correct the JOB to fall
within the input range of the tag.
1 The value for the bi- Setting error (1) Check the following settings.
nary (0/1) data type ∙Check the settings for variable, and then correct the JOB to fall
variable exceeded within the input range of the tag.
the limit.
2 The value for the Setting error (1) Check the following settings.
signed 1-byte data ∙Check the settings for variable, and then correct the JOB to fall
type variable is less within the input range of the tag.
than the minimum val-
ue.
3 The value for the un- Setting error (1) Check the following settings.
ue.
No. Code
ue.
ue.
ue.
ue.
Alarm list
2

- 1025

2 - 1026
Alarm list
No. Code
8 The value for the real- Setting error (1) Check the following settings.
number 4-byte data ∙Check the settings for variable, and then correct the JOB to fall
ue.
character-string type ∙Check the settings for variable, and then correct the JOB to fall
variable is less than within the input range of the tag.
the minimum value.
0 signed 1-byte data ∙Check the settings for variable, and then correct the JOB to fall
type variable exceed- within the input range of the tag.
ed the maximum val-
ue.
ed the maximum val-
ue.
No. Code
ed the maximum val-
ue.
ed the maximum val-
ue.
ed the maximum val-
ue.
ed the maximum val-
ue.
Alarm list
2

- 1027

2 - 1028
Alarm list
No. Code
3277 The value for the real- Setting error (1) Check the following settings.
6 number 4-byte data ∙Check the settings for variable, and then correct the JOB to fall
ed the maximum val-
ue.
2 character-string type ∙Check the settings for variable, and then correct the JOB to fall
variable exceeded within the input range of the tag.
the maximum value.
4447 DEFECTIVE 1 Starting point and Setting error Change the teaching points so that circular interpolation points do
TAUGHT POINT destination point are not to same.
(CIRC) the same position.
2 Any points of the cir- Setting error Change the teaching points so that circular interpolation points do
cular interpolation are not to same.
the same position.
3 Any points of the cir- Setting error Change the teaching points so that circular interpolation points do
cular interpolation are not to same as the center point of circular path.
the same position as
the center position.
4 The three points Setting error Change the teaching points so that circular interpolation points do
taught for the circular not line in a straight line.
interpolation points
line in a straight line.
No. Code
5 The starting point and Setting error Change the teaching points so that circular interpolation points do
destination point not line in a straight line.
taught for the circular
interpolation points
line in a straight line.
6 Rotation angle of cir- Setting error Change the rotation angle of circular interpolation.
cular interpolation is
out of range.
-1 Failed to calculate the Setting error (1) Reset the alarm, and then try again.
circular path. (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-2 Circular interpolation Setting error Specify the same circular interpolation method to all robots.
different ways in mul-
tiple robots are speci-
fied.
4448 WEAVING CON- 1 Weaving control- Software operation (1) Reset the alarm, and then try again.
TROL ERROR group designation er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 When the speed is Setting error (1) Check the following settings.
specified by weaving ∙Reset the value 0.1 seconds or more.
time in the weaving
file, zero or the nega-
tive value is set for the
weaving time.
Alarm list
2
- 1029
2 - 1030
Alarm list
No. Code
5 When the speed is Setting error (1) Check the following settings.
specified by frequen- ∙Reset the value 0.1 Hz or more.
cy in the weaving file,
zero or the negative
value is set for the fre-
quency.
6 When the timer mode Setting error (1) Check the following settings.
is specified in the ∙Set a positive value for the timer value.
weaving file, a nega-
tive value is set for the
timer value.
7 For triangle or L-type Setting error (1) Check the following settings.
weaving, zero is set ∙Set a positive value for the vertical and horizontal distance.
for the vertical or hori-
zontal distance.
8 The coordinate con- Setting error (1) Check the following settings.
trol axis designation ∙Match the control group designation of the wall point and weav-
for the reference point ing execution.
is different from actual
control axis.
No. Code
9 The distance be- Setting error (1) Check the following settings.
tween the point P and ∙Set the correct dimensions in the tool data.
the TCP could not be
calculated in wrist
weaving.
10 The distance be- Setting error (1) Check the following settings.
tween the point P and ∙Set the correct dimensions in the tool data.
the TCP could not be
calculated in circular
wrist weaving.
11 The Y-direction ele- Setting error (1) Check the following settings.
ment of circular coor- ∙Check the settings for wall and horizontal direction.
dinate system for
circular wrist weaving
could not be calculat-
ed.
12 The X-direction ele- Setting error (1) Check the following settings.
ment of circular coor- ∙Check the settings for wall and horizontal direction.
dinate system for
circular wrist weaving
could not be calculat-
Alarm list
ed.
2
- 1031
2 - 1032
Alarm list
No. Code
14 Weaving basic-orien- Software operation (1) Reset the alarm, and then try again.
tation calculation er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
15 Calculation error of Software operation (1) Reset the alarm, and then try again.
horizontal- and wall- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
direction vector for NANCE mode, and then contact your YASKAWA representative
weaving about occurrence status (operating procedure).
16 Weaving synchroni- Setting error (1) Check the following settings.
zation file number se- ∙Check the number of the weaving synchronizing file for use.
lection range error
4449 UNMATCHED Setting error (1) Check the following settings.
POSN VAR DATA ∙Match the data type of position type variable.
TYPE
4450 FILE NO. ERROR 1 An error occurred in Setting error (1) Check the following settings.
tool file number ∙Confirm that the specified tool file number is 0 to 63.
check.
user coordinate file ∙Confirm that the specified user coordinate file number is 1 to 63.
number check.
No. Code
calibration file num- ∙Confirm that the specified robot calibration file number is 1 to 32.
ber check between
the robots.
tool calibration file ∙Confirm that the specified tool file number is 0 to 63.
number check.
reference point num- ∙Confirm that the specified robot calibration file number is 1 to 8.
ber check.
check for welding ∙Confirm that the specified welding condition start file number is 1
start condition file to 48.
number.
Alarm list
2
- 1033
check for welding end ∙Confirm that the specified welding condition end file number is 1
condition file number. to 48.
2 - 1034
Alarm list
No. Code
conveyor characteris- ∙Confirm that the specified conveyor condition file number is 1 to
tic file number check. 6.
press characteristic ∙Confirm that the specified press characteristic file number is 0 to
file number check. 3.
conveyor calibration ∙Confirm that the specified conveyor calibration file number is 1 to
file number check. 6.
argument number ∙Confirm that the argument number is 1 to 16.
check.
check for motor gun ∙Confirm that the specified SERVO gun characteristic file number
characteristic file is 1 to 24.
number.
No. Code
4451 UNDEFINED REF- SUB-Code: Refer- Setting error (1) Check the following settings.
ERENCE POINT ence point number in ∙Set the reference point.
binary
4452 STACK MORE Setting error (1) Check the following settings.
THAN 10 (JOB ∙Change the JOB configuration so that the number of nests for
CALL) CALL instruction is twelve or less.
4453 OVER VARIABLE The variable number Setting error (1) Check the following settings.
NO. is out of range. ∙Correct the JOB using the variable number within the range.
SUB-Code: The vari-
able number which an
attempt was made to
use
4454 UNDEFINED POW- Setting error (1) Check the following settings.
ER SOURCE ∙Complete the settings for the arc welding characteristic file.
COND.
Alarm list
2
- 1035
4455 UNDEFINED ARC Setting error (1) Check the following settings.
START COND FILE ∙Complete the settings for the welding start condition file.
2 - 1036
Alarm list
No. Code
4456 UNDEFINED ARC Setting error (1) Check the following settings.
END COND FILE ∙Complete the settings for the welding end condition file.
4457 WRONG WELDER Setting error (1) Check the following settings.
SELECTION ∙Check the settings for the reference unit of the welding voltage.
4459 EXCESSIVE IN- Setting error (1) Check the following settings.
STRUCTION ∙Separate the operation expression, shorten the expression, and
EQUATION then check the settings for the JOB.
4460 ZERO DIVIDED Setting error (1) Check the following settings.
OCCURRENCE ∙Do not divide by zero.
4461 UNDEFINED Setting error (1) Check the following settings.
AUTO-WELD RE- ∙Check the settings for the number of times of welding release
LEASE COND condition.
No. Code
4462 UNDEFINED POSI- Setting error (1) Check the following settings.
TION FOR ARC RE- ∙Check the settings for the move instruction following ARCON in-
TRY struction.
4463 PARITY ERROR Setting error (1) Check the following settings.
∙Check the settings for the parity data of the user I/O group.
4464 OVER BCD RANGE Setting error (1) Check the following settings.
∙Correct the BCD data so that it is within the limit.
4465 OVER BINARY Setting error (1) Check the following settings.
RANGE ∙Correct the binary data so that it is within the limit.
(PARITY CHECK)
4466 OFFLINE UNDE- 0 An undefined com- Software operation (1) Reset the alarm, and then try again.
FINED COMMAND mand was issued to error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(ARITH) the offline position- NANCE mode, and then contact your YASKAWA representative
data preparation sec- about occurrence status (operating procedure).
tion.
4467 USER COORD Setting error (1) Check the following settings.
STEP NOT ∙Correct the JOB that the number of steps will be three or more.
Alarm list
ENOUGH
2
- 1037
2 - 1038
Alarm list
No. Code
4468 ROBOT CALIBRA- 1 The calibration be- Setting error (1) Check the following settings.
TION DATA ERROR tween robots cannot ∙Do not use a coordinated motion with this robot.
be executed for this
model.
2 The master group and Software operation (1) Reset the alarm, and then try again.
the slave group are error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
set to the same NANCE mode, and then contact your YASKAWA representative
group. about occurrence status (operating procedure).
3 Incorrect designation Software operation (1) Reset the alarm, and then try again.
of the control group error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for master group NANCE mode, and then contact your YASKAWA representative
for slave group NANCE mode, and then contact your YASKAWA representative
of the occupation con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trol group for calibra- NANCE mode, and then contact your YASKAWA representative
tion data about occurrence status (operating procedure).
of the enabling control error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
group for calibration NANCE mode, and then contact your YASKAWA representative
data about occurrence status (operating procedure).
No. Code
7 Among three points in Setting error (1) Check the following settings.
the master-group's ∙Teach the data for calibration so that each point is different.
calibration data, two
or three points are on
the same point.
8 Among three points in Setting error (1) Check the following settings.
the slave-group's cali- ∙Teach the data for calibration so that each point is different.
bration data, two or
three points are on
the same point.
9 The number of the Software operation (1) Reset the alarm, and then try again.
teaching points for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
calibration data is in- NANCE mode, and then contact your YASKAWA representative
sufficient. about occurrence status (operating procedure).
4469 ROBOT CALIBRA- 1 The calibration be- Setting error (1) Check the following settings.
TION FRAME ER- tween robots cannot ∙The calibration function between robots cannot be used for this
ROR be executed for this model.
model.
2 The master group and Setting error (1) Check the following settings.
the slave group are ∙Set the different groups for the master group and the slave group.
set to the same
Alarm list
2
group.
- 1039
2 - 1040
Alarm list
No. Code
for master group NANCE mode, and then contact your YASKAWA representative
for slave group NANCE mode, and then contact your YASKAWA representative
5 Calibration data set- Software operation (1) Reset the alarm, and then try again.
ting error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4470 ROBOT CARIB Setting error (1) Check the following settings.
STEP NOT ∙Check the settings for number of the JOB steps
ENOUGH
4471 ROBOT CALIBRA- 1 Incorrect number of Software operation (1) Reset the alarm, and then try again.
TION DATA ERROR teaching points for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tool calibration NANCE mode, and then contact your YASKAWA representative
of the occupation con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trol group for calibra- NANCE mode, and then contact your YASKAWA representative
tion data about occurrence status (operating procedure).
No. Code
of the enabling control error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
group for calibration NANCE mode, and then contact your YASKAWA representative
data about occurrence status (operating procedure).
for calibration data NANCE mode, and then contact your YASKAWA representative
4472 ARITHMETIC ERR 1 The reference point is Setting error (1) Check the following settings.
(COMPACT RMT not set. ∙Set the reference point.
WELD)
2 The start point and Setting error (1) Check the following settings.
end point are on the ∙Change the teaching positions so that the start point and end
same point. point are different.
3 The straight line Setting error (1) Check the following settings.
which connects the ∙Correct the teaching positions so that the angle that the Z direc-
start point and an end tion of the tool and the straight line which connects the start point
point, and the angle with the end point make becomes 10 degrees or more.
which the Z direction
of a tool makes are
less than 10°.
Alarm list
2
- 1041
2 - 1042
Alarm list
No. Code
4473 ARITHMETIC Software operation (1) Reset the alarm, and then try again.
ALARM RESET ER- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ROR NANCE mode, and then contact your YASKAWA representative
4474 WRONG CON- SUB-Code: The relat- Setting error (1) Check the following settings.
TROL GROUP AXIS ed control-group ∙Make the setting in advance so that the control group of the
CALL/JUMP designation JOB is included in that of the CALL/
JUMP source JOB.
∙Don't start the JOB which including control group under already
operation by "PSTART" instruction.
4475 CANNOT EXE- Setting error (1) Check the following settings.
CUTE JOB (NO RO- ∙Add the robot axis to the control-group of the JOB.
BOT) ∙When MotoPlus function (option) is used, a robot which executed
SKILLSND is not defined as using MotoPlus sensor related API.
Check the combination of the robot and MotoPlus application. If
the alarm occurs again, save the CMOS.BIN in MAINTENANCE
4476 CANNOT EDIT 0 An attempt was made Setting error (1) Check the following settings.
(EDIT LOCK JOB) to change the tag da- ∙Release the prohibition.
ta.
No. Code
to change the speed ∙Release the prohibition.
tag data.
to change the board ∙Release the prohibition.
thickness tag data.
to change the MARK- ·Release the prohibition.
ER JOB.
4477 SELECT ERROR SUB-Code: Applica- Setting error (1) Check the following settings.
(APPLICATION) tion number ∙Set the application to a specified robot by the application selec-
tion of MAINTENANCE mode.
∙A robot which executed SKILLSND is not defined as using Mo-
toPlus sensor related API. Check the combination of the robot
and MotoPlus application. If the alarm occurs again, save the
CMOS.BIN in MAINTENANCE mode, and then contact your YAS-
KAWA representative about occurrence status (operating proce-
dure).
Alarm list
2
- 1043
2 - 1044
Alarm list
No. Code
4478 MotoPlus MM task Software operation (1) Turn the power OFF then back ON.
no response error occurred (2) If the alarm occurs again, replace the YCP21 board. Save the
CMOS.BIN before replacing the board to be safe. After replace-
ment, insert the CF card that has been used for the old YCP21
board to the new one.
4479 MotoPlus MM Task Software operation Check if there is high priority task of MotoPlus application running
watch dog error error occurred long time. Especially, check if there may be the process which
waits for a special condition without executing mpTaskDelay in
loop process. If such process exists, suitable remedy should be
done like putting mpTaskDelay in the loop process.
4480 SELECT ERROR SUB-Code: Sensor Setting error (1) Check the following settings.
(SENSOR 1) number ∙Select the option function for the specified robot in the option
function selection of MAINTENANCE mode.
4482 MotoFit COMMAND Setting error (1) Reset the alarm, and make the robot speed of the instruction
FAULT1 down.
4484 WRONG PORT NO. SUB-Code: Applica- Setting error (1) Check the following settings.
( ANALOG OUT- tion number ∙Set following value to the AxP010 parameter.
PUT) For arc: 1
Arc + arc: 3
Three arc: 5
Four arc: 7
No. Code
4485 WRONG SELEC- Software operation (1) Reset the alarm, and then try again.
TION (SENSOR) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4486 PATH OVER Setting error (1) Check the following settings.
∙Set the path over radius within the allowable range.
4487 WRONG MECH PA- Software operation (1) Reset the alarm, and then try again.
RAMETER FILE error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4489 DEFECTIVE 1 The C- and W-axis Setting error (1) Check the following settings.
TAUGHT POINT position at the cutting ∙Check the settings for the cutting start position (zero pulse).
(CUTTING) start position is not
zero pulse.
2 Zero is set for the cut- Setting error (1) Check the following settings.
ting radius. ∙Check the settings for radius (a value bigger than zero).
3 The cutting machine Setting error (1) Check the following settings.
Alarm list
axis is not mounted. ∙The CUT instruction can be used for the robot with small-circle
2
- 1045
cutting axis only.

2 - 1046
Alarm list
No. Code
4 This robot cannot per- Setting error (1) Check the following settings.
form a hexagonal cut- ∙Select an other cutting form.
ting motion.
4490 DEFECTIVE 1 After the Endless ro- Setting error (1) Check the following settings.
TAUGHT POINT tation completed, an ∙To perform an interpolation motion such as MOVL and MOVC af-
(ENDLESS) attempt was made to ter an Endless rotation, execute an MRESET instruction before-
execute an interpola- hand.
tion instruction such
as MOVL and MOVC
before executing an
MRESET instruction.
2 The base axis is set Setting error (1) Check the following settings.
as an Endless rota- ∙Check the parameter setting that designates the Endless rotation
tion axis. The Endless axis.
function cannot be
used with the base
axis.
No. Code
to execute the End- ∙Check the parameter setting that designates the Endless rotation
less function although axis.
the endless axis was
not designated.
4 The Endless axis ex- Setting error (1) Check the following settings.
ceeded the maximum ∙Set the rotation amount so that the Endless axis does not exceed
pulse value the maximum pulse value.
(+-536870911).
4491 CORRECTIONAL 1 Control-group desig- Software operation (1) Reset the alarm, and then try again.
DIRECTION ER- nation error for cor- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ROR recting-direction NANCE mode, and then contact your YASKAWA representative
preparation about occurrence status (operating procedure).
2 Designation error for Software operation (1) Reset the alarm, and then try again.
the correcting-direc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion coordinates NANCE mode, and then contact your YASKAWA representative
3 When "any direction" Setting error (1) Check the following settings.
is set for the correct- ∙Check the settings for the correcting direction with the reference
ing direction, the cor- point (REFP).
rection coordinates is
not prepared.
Alarm list
2

- 1047
2 - 1048
Alarm list
No. Code
4 When "any direction" Setting error (1) Check the following settings.
is set for the correct- ∙Check the settings for the reference points (REFP) so that each
ing direction, the ref- point is different.
erence points (REFP)
are taught on the
same point.
5 Designation error for Setting error (1) Check the following settings.
the coordinated mo- ∙Match the control group designation of the wall point and weav-
tion control axis at the ing execution.
reference point
4492 POSITION COR- 1 Data unmatched be- Software operation (1) Reset the alarm, and then try again.
RECTION ERROR tween the correction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
amount data and the NANCE mode, and then contact your YASKAWA representative
JOB data: about occurrence status (operating procedure).
The information about
the control groups
designated for the se-
ries of JOBs, which is
added to the correc-
tion amount data,
does not include the
valid control-group for
the JOB.
No. Code
2 Data unmatched be- Software operation (1) Reset the alarm, and then try again.
tween the correction error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
amount data and the NANCE mode, and then contact your YASKAWA representative
JOB data: about occurrence status (operating procedure).
The valid control-
group information that
is added to the cor-
rection amount data
disagrees with the
valid control-group for
the JOB.
4493 OVER TOOL FILE Software operation (1) Reset the alarm, and then try again.
NO. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4494 DEFECTIVE 1 The weaving start Setting error (1) Check the following settings.
TAUGHT POINT point and end point ∙Check the settings for the positions so that the weaving start
(WEAV) are on the same point and end point are different.
point.
2 Among the weaving Setting error (1) Check the following settings.
start point, end point, ∙Check the settings for the positions so that the weaving start
and reference point, point, end point, and reference point are different.
two or three points
are on the same
point.
Alarm list
2
- 1049
2 - 1050
Alarm list
No. Code
4495 UNDEFINED RO- SUB-Code: Control Setting error (1) Check the following settings.
BOT CALIBRATION group which calibra- ∙Before using the coordinated motion, execute the calibration be-
tion is not completed tween robots.
4496 PARAMETER ER- 1 The setting of the ro- Setting error (1) Reset the alarm, and then try again.
ROR bot number is incor- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rect. NANCE mode, and then contact your YASKAWA representative
2 Zero is set for the res- Setting error (1) Reset the alarm, and then try again.
olution. (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3 Zero is set in the feed- Setting error (1) Reset the alarm, and then try again.
back pulse parame- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ter. NANCE mode, and then contact your YASKAWA representative
4 The setting of L-axis Setting error (1) Reset the alarm, and then try again.
ball-screw data is in- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 The setting of U-axis Setting error (1) Reset the alarm, and then try again.
ball-screw data is in- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
6 Zero or a negative Setting error (1) Reset the alarm, and then try again.
value is set for (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
MAXPPS. NANCE mode, and then contact your YASKAWA representative
No. Code
value is set for the (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
maximum accelera- NANCE mode, and then contact your YASKAWA representative
tion speed. about occurrence status (operating procedure).
maximum decelera- NANCE mode, and then contact your YASKAWA representative
tion speed. about occurrence status (operating procedure).
play-mode SERVO NANCE mode, and then contact your YASKAWA representative
averaging time. about occurrence status (operating procedure).
10 The setting of the ro- Setting error (1) Reset the alarm, and then try again.
bot number is incor- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rect. An undefined NANCE mode, and then contact your YASKAWA representative
type is designated. about occurrence status (operating procedure).
11 The incorrect coordi- Setting error (1) Reset the alarm, and then try again.
nate system is desig- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
nated for the cubic NANCE mode, and then contact your YASKAWA representative
interference. An un- about occurrence status (operating procedure).
defined coordinate
system is set.
12 The designation of Setting error (1) Reset the alarm, and then try again.
the user coordinates (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
number is incorrect. A NANCE mode, and then contact your YASKAWA representative
number out of the set- about occurrence status (operating procedure).
ting range is set.
13 The reduction ratio <= Setting error (1) Reset the alarm, and then try again.
0 is output. (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 1051
2 - 1052
Alarm list
No. Code
spring constant. NANCE mode, and then contact your YASKAWA representative
motor inertia. NANCE mode, and then contact your YASKAWA representative
speed calculation NANCE mode, and then contact your YASKAWA representative
constant. about occurrence status (operating procedure).
17 Dividing number set- Setting error (1) Reset the alarm, and then try again.
ting error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
18 The setting of allow- Setting error (1) Reset the alarm, and then try again.
able torque for the (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
speed reducer is in- NANCE mode, and then contact your YASKAWA representative
correct. about occurrence status (operating procedure).
19 The setting of allow- Setting error (1) Reset the alarm, and then try again.
able torque for the (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
motor is incorrect. NANCE mode, and then contact your YASKAWA representative
20 The robot type is not Setting error (1) Reset the alarm, and then try again.
applicable for torque (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
acceleration/deceler- NANCE mode, and then contact your YASKAWA representative
ation. about occurrence status (operating procedure).
balancer. NANCE mode, and then contact your YASKAWA representative
No. Code
22 The angle of hexagon Setting error (1) Reset the alarm, and then try again.
set for the CUT in- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
struction is out of the NANCE mode, and then contact your YASKAWA representative
range "0 degree < an- about occurrence status (operating procedure).
gle < 60 degrees."
23 Encoder type desig- Setting error (1) Reset the alarm, and then try again.
nation error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
24 Observer sampling Setting error (1) Reset the alarm, and then try again.
time error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
25 Two-degree-of-free- Setting error (1) Reset the alarm, and then try again.
dom system Kp value (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
26 The setting of torque Setting error (1) Reset the alarm, and then try again.
acceleration/deceler- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ation designation pa- NANCE mode, and then contact your YASKAWA representative
rameter is incorrect. about occurrence status (operating procedure).
27 Observer polarity set- Setting error (1) Reset the alarm, and then try again.
ting error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
28 The inertia value error Setting error (1) Reset the alarm, and then try again.
for the shift value cal- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
culation NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 1053
2 - 1054
Alarm list
No. Code
29 Observer attenuation Setting error (1) Reset the alarm, and then try again.
constant error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
30 Torque estimation pa- Setting error (1) Reset the alarm, and then try again.
rameter error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
31 The segment clock Setting error (1) Reset the alarm, and then try again.
error occurred when (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the PV loop is 1 ms. NANCE mode, and then contact your YASKAWA representative
32 Non-robot axis ob- Setting error (1) Reset the alarm, and then try again.
server selection error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
33 Zero is set for the re- Setting error (1) Reset the alarm, and then try again.
sponse time constant. (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
34 Efficiency data error Setting error (1) Reset the alarm, and then try again.
35 Zero is set for the av- Setting error (1) Reset the alarm, and then try again.
eraging time con- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
stant. NANCE mode, and then contact your YASKAWA representative
36 Torque limit ratio data Setting error (1) Reset the alarm, and then try again.
No. Code
37 Coulomb friction data Setting error (1) Reset the alarm, and then try again.
38 Kinematic friction co- Setting error (1) Reset the alarm, and then try again.
efficient data error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
39 The setting in the op- Setting error (1) Reset the alarm, and then try again.
timized acceleration/ (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
deceleration designa- NANCE mode, and then contact your YASKAWA representative
tion parameter is in- about occurrence status (operating procedure).
correct.
40 An uninstalled func- Setting error (1) Reset the alarm, and then try again.
tion is designated. (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
41 The dynamics-model Setting error (1) Reset the alarm, and then try again.
calculation at the opti- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mized acceleration/ NANCE mode, and then contact your YASKAWA representative
deceleration is inval- about occurrence status (operating procedure).
id.
42 Zero is set for the in- Setting error (1) Reset the alarm, and then try again.
ertia of dynamics (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fixed model. NANCE mode, and then contact your YASKAWA representative
43 Designation error for Setting error (1) Reset the alarm, and then try again.
dynamics-model cal- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
culation type NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 1055
2 - 1056
Alarm list
No. Code
44 The optimized accel- Setting error (1) Reset the alarm, and then try again.
eration/deceleration (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
control of speed limit NANCE mode, and then contact your YASKAWA representative
function is disabled. about occurrence status (operating procedure).
45 The axis designation Setting error (1) Reset the alarm, and then try again.
parameter for the (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
speed limit function is NANCE mode, and then contact your YASKAWA representative
not set. about occurrence status (operating procedure).
46 The setting in the Setting error (1) Reset the alarm, and then try again.
mode designation pa- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rameter for the speed NANCE mode, and then contact your YASKAWA representative
limit function is incor- about occurrence status (operating procedure).
rect.
47 Zero or negative val- Setting error (1) Reset the alarm, and then try again.
ue is set in the allow- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
able braking torque NANCE mode, and then contact your YASKAWA representative
parameter for the about occurrence status (operating procedure).
speed limit function.
value is set in the (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
speed adjustment ra- NANCE mode, and then contact your YASKAWA representative
tio parameter for the about occurrence status (operating procedure).
speed limit function.
torque limit adjust- NANCE mode, and then contact your YASKAWA representative
ment ratio parameter about occurrence status (operating procedure).
for the acceleration/
deceleration tuning.
No. Code
value is set in the pa- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rameter that sets the NANCE mode, and then contact your YASKAWA representative
shortest acceleration/ about occurrence status (operating procedure).
deceleration time for
when the excessive
torque is applied at
the optimized accel-
eration/deceleration.
51 Zero is set for the di- Setting error (1) Reset the alarm, and then try again.
mension information (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
"a3" for the SKR ro- NANCE mode, and then contact your YASKAWA representative
bot. about occurrence status (operating procedure).
52 The setting of sealer- Setting error (1) Reset the alarm, and then try again.
gun control-group pa- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rameter for the SER- NANCE mode, and then contact your YASKAWA representative
VO sealer control is about occurrence status (operating procedure).
incorrect.
53 The parameter set- Setting error (1) Reset the alarm, and then try again.
ting for the Cartesian (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
robot X-axis data is NANCE mode, and then contact your YASKAWA representative
54 The parameter set- Setting error (1) Reset the alarm, and then try again.
ting for the Cartesian (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
robot Y-axis data is in- NANCE mode, and then contact your YASKAWA representative
55 The setting for the Setting error (1) Reset the alarm, and then try again.
Dual-arm robot is in- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 1057
2 - 1058
Alarm list
No. Code
FORMCUT maximum NANCE mode, and then contact your YASKAWA representative
acceleration/deceler- about occurrence status (operating procedure).
ation time parameter.
57 The setting of ex- Setting error (1) Reset the alarm, and then try again.
panded check-point (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
designating bits for NANCE mode, and then contact your YASKAWA representative
the arm interference about occurrence status (operating procedure).
check is incorrect.
sphere at the arm in- NANCE mode, and then contact your YASKAWA representative
terference check about occurrence status (operating procedure).
point.
value is set for the cyl- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
inder at the arm inter- NANCE mode, and then contact your YASKAWA representative
ference check point. about occurrence status (operating procedure).
62 The number of desig- Setting error (1) Reset the alarm, and then try again.
nated check points for (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the arm interference NANCE mode, and then contact your YASKAWA representative
check is insufficient. about occurrence status (operating procedure).
70 All of X, Y, and Z value Setting error (1) Reset the alarm, and then try again.
of the expanded (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
check-point 1 for the NANCE mode, and then contact your YASKAWA representative
arm interference about occurrence status (operating procedure).
check are set to zero.
71 All of X, Y, and Z value Setting error (1) Reset the alarm, and then try again.
of the expanded (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
check-point 2 for the NANCE mode, and then contact your YASKAWA representative
arm interference about occurrence status (operating procedure).
check are set to zero.
No. Code
85 The setting of wrist Setting error (1) Reset the alarm, and then try again.
axis angle for tube-in- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
corporated wrist type NANCE mode, and then contact your YASKAWA representative
robots or three-roll about occurrence status (operating procedure).
wrist type robots is in-
correct.
86 The special link JOG Setting error (1) Reset the alarm, and then try again.
operation cannot be (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
used with this robot. NANCE mode, and then contact your YASKAWA representative
87 The setting in the pa- Setting error (1) Reset the alarm, and then try again.
rameter for special (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
angle limit check des- NANCE mode, and then contact your YASKAWA representative
ignation is incorrect. about occurrence status (operating procedure).
91 The setting of the de- Setting error (1) Reset the alarm, and then try again.
celeration speed for (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the path-priority con- NANCE mode, and then contact your YASKAWA representative
trol is less than zero. about occurrence status (operating procedure).
92 A negative value is Setting error (1) Reset the alarm, and then try again.
set in the roundness (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
parameter for the NANCE mode, and then contact your YASKAWA representative
path-priority control. about occurrence status (operating procedure).
93 The link parameter for Setting error (1) Reset the alarm, and then try again.
the cutting device is (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
not set. NANCE mode, and then contact your YASKAWA representative
95 The real-time bending Setting error (1) Reset the alarm, and then try again.
correction function is (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
enabled for a control- NANCE mode, and then contact your YASKAWA representative
group other than ro- about occurrence status (operating procedure).
Alarm list
bot axis.
2
- 1059
2 - 1060
Alarm list
No. Code
96 Zero is set for the di- Setting error (1) Reset the alarm, and then try again.
mension information (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
"a2" for the Arc Cell NANCE mode, and then contact your YASKAWA representative
Torch Arm type ro- about occurrence status (operating procedure).
bots.
97 Zero is set for the de- Setting error (1) Reset the alarm, and then try again.
celeration ratio for (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
double T-axis unit of NANCE mode, and then contact your YASKAWA representative
the V-shaped double about occurrence status (operating procedure).
T-axis robot.
103 "α" is replaced with Setting error (1) Reset the alarm, and then try again.
"0" in SKR1-5 type ro- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
bot. NANCE mode, and then contact your YASKAWA representative
118 Wrong value in set for Setting error (1) Reset the alarm, and then try again.
backlash correction (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
function. NANCE mode, and then contact your YASKAWA representative
121 Incorrect parameter Setting error (1) Reset the alarm, and then try again.
setting to inertia (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
speed control func- NANCE mode, and then contact your YASKAWA representative
122 Incorrect accelera- Setting error (1) Reset the alarm, and then try again.
tion/deceleration time (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
setting at tool mass NANCE mode, and then contact your YASKAWA representative
acceleration/deceler- about occurrence status (operating procedure).
ation speed correc-
tion function.
123 Incorrect coefficient/ Setting error (1) Reset the alarm, and then try again.
item settings at tool (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mass acceleration/ NANCE mode, and then contact your YASKAWA representative
deceleration speed about occurrence status (operating procedure).
correction function.
No. Code
124 No tool mas as the Setting error (1) Reset the alarm, and then try again.
minimum accelera- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion/deceleration time NANCE mode, and then contact your YASKAWA representative
at tool mass accelera- about occurrence status (operating procedure).
tion/deceleration
speed correction
function.
125 Incorrect speed set- Setting error (1) Reset the alarm, and then try again.
ting at tool mass ac- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
celeration/ NANCE mode, and then contact your YASKAWA representative
correction function.
126 Incorrect coefficient/ Setting error (1) Reset the alarm, and then try again.
item settings at tool (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mass acceleration/ NANCE mode, and then contact your YASKAWA representative
control function.
127 No tool mass as the Setting error (1) Reset the alarm, and then try again.
maximum accelera- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion/deceleration time NANCE mode, and then contact your YASKAWA representative
at tool mass accelera- about occurrence status (operating procedure).
tion/deceleration
speed control func-
tion.
129 An error in the stan- Setting error (1) Reset the alarm, and then try again.
dard arithmetical axis (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
number setting for ap- NANCE mode, and then contact your YASKAWA representative
proximation model. about occurrence status (operating procedure).
130 An error in the stan- Setting error (1) Reset the alarm, and then try again.
dard expanding point (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
number setting for ap- NANCE mode, and then contact your YASKAWA representative
Alarm list
2
proximation model. about occurrence status (operating procedure).

- 1061
2 - 1062
Alarm list
No. Code
131 An error in the radius Setting error (1) Reset the alarm, and then try again.
setting for approxima- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion model. NANCE mode, and then contact your YASKAWA representative
132 setting error of arith- Setting error (1) Reset the alarm, and then try again.
metical axis number (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in D-H method. NANCE mode, and then contact your YASKAWA representative
133 setting error of choos- Setting error (1) Reset the alarm, and then try again.
ing no / wrong con- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
nection base NANCE mode, and then contact your YASKAWA representative
arithmetical axis num- about occurrence status (operating procedure).
ber in D-H method.
134 The higher-order ac- Setting error (1) Reset the alarm, and then try again.
celeration/decelera- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion is prohibited NANCE mode, and then contact your YASKAWA representative
when using operation about occurrence status (operating procedure).
acceleration / decel-
eration
135 Base axis control Setting error (1) Reset the alarm, and then try again.
point → Robot coordi- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
nate system off set NANCE mode, and then contact your YASKAWA representative
setting prohibited about occurrence status (operating procedure).
136 Pulse linked JOG Setting error (1) Reset the alarm, and then try again.
function specification (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
137 Dual drive control Setting error (1) Reset the alarm, and then try again.
specification error (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
138 Notch filter supported Setting error (1) Reset the alarm, and then try again.
acceleration and de- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
celeration tuning: NANCE mode, and then contact your YASKAWA representative
Notch filter function about occurrence status (operating procedure).
setting error
139 Notch filter supported Setting error (1) Reset the alarm, and then try again.
acceleration and de- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
celeration tuning: NANCE mode, and then contact your YASKAWA representative
Notch filter (z2) set- about occurrence status (operating procedure).
ting error
147 NON ACTIVATION of Setting error (1) Check the following settings.
SERVO Simulation ∙Enable SERVO Simulation Function.
function error
149 The setting error of vi- Setting error (1) Check the following settings.
bration suppression ∙Confirm that the threshold value for the vibration suppression fil-
filter for SVSPOT- ter should be larger than the one in previous table.
MOV
150 the setting error of Setting error (1) Check the following settings.
time constant for the Confirm that the time constant for vibration suppression filter for
vibration suppression SVSPOTMOV must be the different value of Kp.
filter for SVSPOT-
MOV
Alarm list
2

- 1063
2 - 1064
Alarm list
No. Code
152 the setting error of the Setting error (1) Check the following settings.
number for vibration Confirm that the number of the tables activated for vibration filter
suppression filter for is less than 5.
SVSPOTMOV
154 The setting in the pa- Setting error (1) Check the following settings.
rameter for special Correct the setting value of the parameter for special mechanical
mechanical interfer- interference.
ence is incorrect.
157 Endless function en- Setting error (1) Save the CMOS.BIN in MAINTENANCE mode, and then con-
coder err tact your YASKAWA representative about occurrence status (op-
erating procedure).
setting at tool mass (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ation speed control about occurrence status (operating procedure).
function.
159 Setting error (1) Reset the alarm, and then try again.
No. Code
setting at tool mass (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ation speed limit func- about occurrence status (operating procedure).
tion.
setting at gun speed (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
limit function. NANCE mode, and then contact your YASKAWA representative
162 Timing delay control Setting error (1) Check the following settings.
function was invalid ·Enable timing delay control function.
setting at TCP speed (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ation speed limit func- about occurrence status (operating procedure).
tion.
4497 DEFECTIVE 1 Some of the teaching Setting error (1) Check the following settings.
TAUGHT POINT points for master- ∙Perform the teaching again so that the teaching points are differ-
(CALIB) group are on the ent from one another.
same point.
Alarm list
2
- 1065

2 - 1066
Alarm list
No. Code
2 Some of the teaching Setting error (1) Check the following settings.
points for slave-group ∙Perform the teaching again so that the teaching points are differ-
are on the same ent from one another.
point.
3 The 2nd-axis posi- Setting error (1) Check the following settings.
tions of C3, C4, and ∙Perform the teaching again so that the 2ndaxis positions of C3,
C5 of station axes are C4, and C5 of the station axes are the same.
not the same.
4 The 1st-axis positions Setting error (1) Check the following settings.
of C1, C2, and C3 of ∙Perform the teaching again so that the 1staxis positions of C1,
station axes are not C2, and C3 of station axes are the same.
the same.
5 The 2nd-axis posi- Setting error (1) Check the following settings.
tions of C1, C2, and ∙Perform the teaching again so that the teaching positions are dif-
C3 of station axes are ferent from one another.
the same.
No. Code
6 The 1st-axis rotation Setting error (1) Check the following settings.
direction of C3, C4, ∙Perform the teaching again so that the 1staxis rotation direction
and C5 of station of C3, C4, and C5 of station axes are the same.
axes are not the
same.
7 The 1st-axis (eleva- Setting error (1) Check the following settings.
tion axis) positions of ∙Perform the teaching again so that the 1staxis (elevation axis)
C1, C2, and C3 of sta- positions of C1, C2, and C3 of station axes are the same.
tion axes are not the
same.
8 The 1st-axis (eleva- Setting error (1) Check the following settings.
tion axis) positions of ∙Perform the teaching again so that the 1staxis (elevation axis)
C3, C4, and C5 of sta- positions of C3, C4, and C5 of station axes are the same.
tion axes are not the
same.
4498 CANNOT EXE- An attempt was made Setting error (1) Check the following settings.
CUTE JOB (NO to execute an instruc- ∙Check the settings for the JOB instruction with control group.
GRP AXIS) tion that could not be
executed in a JOB
without control group.
Alarm list
2

- 1067

2 - 1068
Alarm list
No. Code
4499 UNDEFINED POSI- SUB-Code: The vari- Setting error (1) Check the following settings.
TION VARIABLE able number ∙Check the settings for the position type variable.
4500 UNDEFINED USER SUB-Code: User co- Setting error (1) Check the following settings.
FRAME ordinate number ∙Check the settings for the user coordinate.
4501 OUT OF RANGE SUB-Code: Task Software operation (1) Reset the alarm, and then try again.
(PARALLEL PRO- number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
CESS) NANCE mode, and then contact your YASKAWA representative
4502 SL BOARD ON- The option board was Software operation (1) Reset the alarm, and then try again.
LINE ERROR detected not to oper- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ate normally at power NANCE mode, and then contact your YASKAWA representative
ON. about occurrence status (operating procedure).
4505 UNDEFINED POSI- Setting error (1) Check the following settings.
TION FOR ARC ON ∙Register a step before the ARCON instruction.
4506 UNDEFINED POS Setting error (1) Check the following settings.
FOR RESTART RE- ∙Check the settings for the JOB.
TURN
No. Code
4507 REFP POS ERROR Setting error (1) Check the following settings.
(SEARCH MO- ∙Perform the teaching again so that the search start point and the
TION) motion target point are not the same.
∙Increase the distance between the search start point and the mo-
tion target point.
4508 SPECIFIED ER- 0 The specified coordi- Setting error (1) Check the following settings.
ROR (COORDI- nate system does not ∙Check the settings for the coordinate system which can be used.
NATE) exist.
1 Designation error of Setting error (1) Check the following settings.
the master tool coor- ∙Check the settings for the coordinate system which can be used.
dinate system. This
coordinate system
cannot be used.
the tool coordinate ∙Check the settings for the coordinate system which can be used.
system. This coordi-
nate system cannot
be used.
Alarm list
2
- 1069
2 - 1070
Alarm list
No. Code
the direction of travel ∙Check the settings for the coordinate system which can be used.
coordinate system
(for a shared func-
tion). This coordinate
system cannot be
used.
the any direction co- ∙Check the settings for the coordinate system which can be used.
ordinate system (for a
shared function). This
coordinate system
cannot be used.
the approximation ∙Check the settings for the coordinate system which can be used.
tool coordinate sys-
tem (for a shared
function). This coordi-
nate system cannot
be used.
No. Code
the conveyor coordi- ∙Check the settings for the coordinate system which can be used.
nate system. This co-
ordinate system
cannot be used.
the COMARC coordi- ∙Check the settings for the coordinate system which can be used.
ordinate system
cannot be used.
the power sensor co- ∙Check the settings for the coordinate system which can be used.
ordinate system. This
coordinate system
cannot be used.
the cylindrical coordi- ∙Check the settings for the coordinate system which can be used.
ordinate system
cannot be used.
Alarm list
2

- 1071

2 - 1072
Alarm list
No. Code
the coordinate sys- ∙Check the settings for the coordinate system which can be used.
tem for the external
reference point. This
coordinate system
cannot be used.
tem for 3D shifting.
This coordinate sys-
tem cannot be used.
the KOMATSU tool Z- ∙Check the settings for the coordinate system which can be used.
direction operation
coordinate system.
This coordinate sys-
tem cannot be used.
the KOMATSU tool ∙Check the settings for the coordinate system which can be used.
JOG operation coor-
dinate system. This
coordinate system
cannot be used.
No. Code
tem at IMOV for 3D
shifting. This coordi-
nate system cannot
be used.
the H-LINK type cylin- ∙Check the settings for the coordinate system which can be used.
drical coordinate sys-
tem. This coordinate
system cannot be
used.
the FSER_FRAME ∙Check the settings for the coordinate system which can be used.
type cylindrical coor-
dinate system. This
coordinate system
cannot be used.
Alarm list
2
- 1073
2 - 1074
Alarm list
No. Code
the reference US- ∙Check the settings for the coordinate system which can be used.
ER_FRAME type cy-
lindrical coordinate
system. This coordi-
nate system cannot
be used.
4509 MFRAME ERROR 1 The master-tool user Setting error (1) Check the following settings.
coordinates could not ∙Execute the MFRAME instruction in coordinated JOB when you
be prepared. make the master tool user coordinate.
2 Reference user frame (1) Check the following settings.
cannot be used. ·reference user frame
If the alarm occurs again, save the CMOS.BIN in MAINTENANCE

3 Position type variable (1)Check the following settings.
(P variable) cannot be ·position type variable (P variable).
used.
If the alarm occurs again, save the CMOS.BIN in MAINTENANCE
CUTE INSTRUC- ∙Check the JOB settings so that the second argument of SQRT in-
TION (SQRT) struction does not become negative.
No. Code
4511 OUT OF RANGE SUB-Code: Control Setting error (1) Check the following settings.
(DROP-VALUE) group exceeding the ∙Confirm the load setting to the robot.
allowable value
LINE (3 STEPS) ∙Check the settings so that the teaching points are not aligned in
a straight line.
4513 EXCESSIVE SEG- SUB-Code: Control Setting error (1) Check the following settings.
MENT group and axis ∙Reduce the speed of the step where the alarm occurred.
(SAFETY 1): LOW/ ∙Change the move instruction to joint interpolation (MOVJ).
HIGH * Be careful to the peripheral interference since its movement
changes.
4515 EXCESSIVE SEG- SUB-Code: Control Setting error (1) Check the following settings.
MENT group and axis ∙Reduce the speed of the step where the alarm occurred.
(SAFETY 2): LOW/ ∙Change the move instruction to joint interpolation (MOVJ).
HIGH * Be careful to the peripheral interference since its movement
changes.
Alarm list
2

- 1075
2 - 1076
Alarm list
No. Code
4517 SEARCH MONI- SUB-Code: The relat- Software operation (1) Reset the alarm, and then try again.
TOR SET ERROR ed control-group error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4518 SEARCH MON RE- SUB-Code: The relat- Software operation (1) Reset the alarm, and then try again.
LEASE ERR (SER- ed control-group error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
VO) NANCE mode, and then contact your YASKAWA representative
4520 AXIS BLOCKING SUB-Code: Control Setting error (1) Check the following settings.
group ∙Check the settings for the general-purpose input signal set in the
parameter.
4521 WRONG JOB TYPE SUB-Code Setting error (1) Check the following settings.
0000_0001: A robot ∙Check the settings for the JOB to be started.
JOB was started from
the concurrent JOB at
CALL/JUMP instruc-
tion execution.
0000_1001: A con-
current JOB was
started from the robot
JOB at CALL/JUMP
instruction execution.
1000_0001: A system
JOB was started from
the robot JOB at
CALL/JUMP instruc-
tion execution.
No. Code
4522 TAG DATA 0 An attempt was made Setting error (1) Check the following settings.
CHANGE PRO- to change the con- ∙The variable tag cannot be changed. Correct the JOB so as not
CESS ERROR tents of variable tag to use the variable tag.
data.
to change the tag ∙Release the prohibition.
data for the JOB pro-
hibited from being ed-
ited.
instruction read-in. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3 The tag is not regis- Software operation (1) Reset the alarm, and then try again.
tered. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 The tag data was vari- Setting error (1) Check the following settings.
able specification. ∙The variable tag cannot be changed. Correct the JOB so as not
to use the variable tag.
Alarm list
2
- 1077
2 - 1078
Alarm list
No. Code
5 The value which it Setting error (1) Check the following settings.
was made to change ∙Check the contents of changing data.
exceeded the limit of
tag data.
tag data change. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4523 SHARED AXES 1 The teaching points Software operation (1) Reset the alarm, and then try again.
CONTROL ERROR are incorrect. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
CUTE INST(CON- ∙Delete an instruction that cannot be executed such as move in-
CUR JOB) struction in the concurrent JOB.
4525 CANNOT EXE- 1 An interrupt JOB (us- Setting error (1) Check the following settings.
CUTE SPECIFIED er setting) is started ∙Check the JOB so that the interrupt JOB will not start-up during
JOB up during the back the back operation.
operation.
2 An suspend macro Setting error (1) Check the following settings.
JOB is started up ∙Check the JOB so that the suspend macro JOB will not start-up
during the back oper- during the back operation.
ation.
No. Code
3 An interrupt JOB (in- Setting error (1) Check the following settings.
side the system) is ∙Check the JOB so that the interrupt JOB will not start-up during
started up during the the back operation.
back operation.
4 A FOLGE JOB is (1)Check the following settings.
started up from a JOB ·Check the JOB so that the FOLGE JOB will start-up from the reg-
except the registered istered master JOB.
master JOB.
4527 UNDEFINED PORT Setting error (1) Check the following settings.
NO.(AOUT) ∙Check the settings for the specified analog output port number.
4528 SYNTAX ERROR 1 A syntax error was Software operation (1) Reset the alarm, and then try again.
found in the IF sen- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tence. NANCE mode, and then contact your YASKAWA representative
4529 TWIN COORDINAT- 1 A JOB without control Setting error (1) Check the following settings.
ED ERROR group was started by ∙Check the control group setting of the JOB to be started by
SYNC instruction. SYNC.
Alarm list
2
- 1079

2 - 1080
Alarm list
No. Code
2 A JOB only with robot Setting error (1) Check the following settings.
axes was started by ∙Check the control group setting of the JOB to be started by
SYNC instruction. SYNC.
3 A JOB only with mas- Setting error (1) Check the following settings.
ter control group axes ∙Check the control group setting of the JOB to be started by
was started by SYNC SYNC.
instruction.
4 At full synchroniza- Software operation (1) Reset the alarm, and then try again.
tion, the completion error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
timings of move in- NANCE mode, and then contact your YASKAWA representative
structions for the about occurrence status (operating procedure).
master and the slave
disagreed.
tion, no operation re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
quest from the master NANCE mode, and then contact your YASKAWA representative
was sent. about occurrence status (operating procedure).
tion, the execution error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
timings of move in- NANCE mode, and then contact your YASKAWA representative
structions for the about occurrence status (operating procedure).
master and the slave
disagreed.
No. Code
7 The twin synchronous Software operation (1) Reset the alarm, and then try again.
ID number is incor- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rect. NANCE mode, and then contact your YASKAWA representative
to execute triple syn- ∙Match the system number specification of the master between
chronization when the JOB to be started by SYNC.
specified Sub-master
for the master was dif-
ferent.
4530 CONVEYOR 1 The base axis specifi- Setting error (1) Check the following settings.
TRACKING ERROR cation is other than 1 ∙Set the base axis specification of conveyor characteristic file to
or 2 for conveyor either 0, 1, or 2.
characteristic file.
2 No robot axis in the Setting error (1) Check the following settings.
JOB for robot axis ∙Correct the JOB setting so that the robot axis tracking is executed
tracking in the JOB where robot axis exists.
3 No base axis in the Setting error (1) Check the following settings.
JOB for base axis ∙Correct the JOB settings so that the base axis tracking is execut-
tracking ed in the JOB where base axis exists.
Alarm list
2

- 1081

2 - 1082
Alarm list
No. Code
4 The conveyor board Setting error (1) Check the following settings.
number and conveyor ∙Check the specification of conveyor condition file number for use.
characteristic file
number used are in-
correct.
5 There was no convey- Software operation (1) Reset the alarm, and then try again.
or start position data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
at prereading pro- NANCE mode, and then contact your YASKAWA representative
10 No base axis in the Setting error (1) Check the following settings.
JOB for arc tracking ∙Correct the JOB setting so that the arc tracking is executed in the
JOB where robot axis exists.
11 The set value for the Setting error (1)Check the following settings.
TRACKING COR- ·Set a larger value for the TRACKING CORRECTION in the con-
RECTION in a conveyor condition file to be used.
veyor condition file is
abnormal.
4531 UNDEFINED CON- SUB-Code: Conveyor Setting error (1) Check the following settings.
VEYOR COND FILE characteristic file ∙Set "Use state" of conveyor characteristic file to "1: Use."
number
No. Code
4532 CONVEYOR SUB-Code: Conveyor Setting error (1) Check the following settings.
SPEED DOWN number ∙Correct the “Conveyor Lowest Speed” set in the conveyor char-
acteristic file.
4533 ARITHMETIC ER- 1 Designation error of Software operation (1) Reset the alarm, and then try again.
ROR (CV TRACK- the conveyor tracking error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ING) control-group NANCE mode, and then contact your YASKAWA representative
the user coordinates error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
for the conveyor NANCE mode, and then contact your YASKAWA representative
tracking about occurrence status (operating procedure).
to use the conveyor ∙The conveyor tracking cannot be executed to the slave robot of
tracking function with the coordinate system. Correct the JOB so that the conveyor
the slave robot at co- tracking perform by the robot unit or without coordinated motion.
ordinate motion.
4 Zero is set for the res- Setting error (1) Check the following settings.
olution for the turn-ta- ∙Check the settings for the resolution.
ble synchronization.
Alarm list
2
- 1083
2 - 1084
Alarm list
No. Code
4534 TORQUE INTER- Setting error (1) Check the following settings.
FERENCE ∙Correctly set the weight information in the tool file. (Are the
weight: W and the number set to the load value of either Xg, Yg
or Zg)
∙Reduce the speed in the step where the alarm occurred.

4535 TARGET VARI- 0 An attempt was made Setting error (1) Check the following settings.
ABLE TYPE UN- to obtain the byte type ∙Obtain as the byte type variable.
MATCHED system variable by
the other type vari-
able.
to obtain the integer ∙Obtain as the integer type variable.
type system variable
by the other type vari-
able.
to obtain the double- ∙Obtain as the double-precision integer-type variable.
precision integer-type
system variable by
the other type vari-
able.
No. Code
to obtain the real- ∙Obtain as the real-number type variable.
number type system
variable by the other
type variable.
to obtain the charac- ∙Obtain as the character-string type variable.
ter-string type system
variable by the other
type variable.
4538 ROBOT AXIS 0 "SYMOVJ" instruction Setting error (1) Check the following settings.
TRACKING INVAL- is executed at robot- ∙Do not use "SYMOVJ" instruction in robot axis tracking.
ID axis tracking.
4539 CORNER R CON- 1 The Corner-R motion Setting error (1) Check the following settings.
TROL ERROR cannot be used for ∙Do not use the Corner-R motion for coordinated motion.
coordinated motion.
Alarm list
2

- 1085
2 - 1086
Alarm list
No. Code
to execute the Cor- ∙Check the settings for the teaching so that the start step and end
ner-R motion for the step are not on the same point.
same point.
3 The Corner-R zone is Setting error (1) Check the following settings.
taught on a straight ∙Check the settings for teaching so that the Corner-R zone is not
line. on a strait line.
4 The start position or Setting error (1) Check the following settings.
end position for the ∙Make the setting for the Corner-R radius small.
Corner-R motion ∙Make the moving amount of the Corner-R start step long.
could not be calculat- ∙Make the moving amount of the Corner-R start end long.
ed inside the start
zone or the end zone.
5 The Corner-R motion Setting error (1) Check the following settings.
cannot be used for ∙Do not use the Corner-R motion for master robots at coordinated
coordinated motion motion.
(with master robots).
No. Code
cannot be used for ∙Use a MOVL instruction when using the Corner-R motion.
MOVC, MOVS, and
EIMOVC instructions.
is disabled during ∙Do not perform weaving when using the Corner-R motion.
weaving.
8 Different tool num- Setting error (1) Check the following settings.
bers are set in a Cor- ∙Use the same tool number in a Corner-R zone.
ner-R zone (for the
Corner-R middle step
and end step).
is disabled when the ∙Disable the higher-order acceleration/deceleration when using
higher-order acceler- the Corner-R motion.
ation/deceleration is
specified.
Alarm list
2
is disabled during ∙Do not perform the conveyor tracking when using the Corner-R
- 1087
conveyor tracking. motion.

2 - 1088
Alarm list
No. Code
18 Arithmetic error oc- Setting error (1) Check the following settings.
curred when calculat- ∙Do not perform the conveyor tracking when using the Corner-R
ing the acceleration motion.
and deceleration time
for the Corner-R oper-
ation
19 Arithmetic error oc- Setting error (1) Check the following settings.
curred when calculat- ∙Do not perform the conveyor tracking when using the Corner-R
ing acceleration and motion.
deceleration during
test run in consider-
ation of SERVO delay
for the Corner-R mo-
tion.
4540 JOB QUE EMPTY Setting error (1) Check the following settings.
ERROR ∙Use “CALL QUE” under the condition that the JOB data is set to
the JOB queue.
No. Code
4541 INVALID INPUT 1 There was no charac- Setting error (1) Check the following settings.
STRING(VAL) ter string representing ∙Check the settings for the data of the character string to be ex-
a constant in charac- tracted.
ter string to be ex-
tracted at VAL
instruction execution.
4542 MRESET ERROR 1 An MRESET instruc- Setting error (1) Check the following settings.
tion was executed ∙Set the endless axis.
while no endless axis
was designated.
4543 STACK LESS THAN At JOB return, an at- Software operation (1) Reset the alarm, and then try again.
0 (JOB CALL) tempt was made to error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fetch a data from an NANCE mode, and then contact your YASKAWA representative
empty JOB call stack about occurrence status (operating procedure).
or to stack a data in
the JOB call stack
that is full.
4544 MID$ INST ERROR 1 The first character of Setting error (1) Check the following settings.
character string to be ∙Check the settings for the data of the character string to be ex-
extracted is null at tracted.
MID$ instruction exe-
cution.
Alarm list
2
- 1089
2 - 1090
Alarm list
No. Code
2 The extraction start Setting error (1) Check the following settings.
position exceeds the ∙Check the settings for the data of the character string to be ex-
character string tracted.
length at MID$ in-
struction execution.
4545 FOLLOWING 1 The trajectory calcu- Setting error (1) Check the following settings.
ARITHMETIC ER- lation couldn't be per- ∙Review tag setting of the FOLLOW2 instruction.
ROR formed since the V/T
is set to less than 4.
2 The trajectory calcu- Setting error (1) Check the following settings.
lation couldn't be per- ∙Review the DD= tag of the FOLLOW2 instruction.
formed since total
stroke volume is less
than caught volume.
4546 CANNOT EXE- SUB-Code: System Software operation (1) Reset the alarm, and then try again.
CUTE SYSTEM number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
JOB NANCE mode, and then contact your YASKAWA representative
4547 PRIMITIVE ERROR SUB-Code: Error Software operation (1) Reset the alarm, and then try again.
code error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
4548 CANNOT OPER- SUB-Code: System Software operation (1) Reset the alarm, and then try again.
ATE SPECIFIED number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
EVENT NANCE mode, and then contact your YASKAWA representative
4549 NOT EXECUTION SUB-Code: System Setting error (1) Check the following settings.
OF INIEVNT number ∙Execute an INIEVNT instruction before executing an event relat-
ed instruction.
4550 CANNOT EXE- SUB-Code: System Setting error (1) Check the following settings.
CUTE INST(USER number ∙This instruction cannot be executed in the system JOB. Correct
JOB) the JOB so that the instruction is executed in the user JOB.
4551 CANNOT MEA- SUB-Code: Gun Setting error (1) Check the following settings.
SURE TIP INSTALL number ∙Execute the "SVGUNCL TWC-AE", and then execute the "SV-
COEF GUNCL TWC=BE".
4565 SOFTWARE UN- 1 The multi-layer weld- Software operation (1) Reset the alarm, and then try again.
MATCH ing function is not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2 The observer function Software operation (1) Reset the alarm, and then try again.
is not used. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 1091
2 - 1092
Alarm list
No. Code
3 The TURBO function Software operation (1) Reset the alarm, and then try again.
4 The COMARC func- Software operation (1) Reset the alarm, and then try again.
tion is not used. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 The conveyor/press Software operation (1) Reset the alarm, and then try again.
synchronization func- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion is not used. NANCE mode, and then contact your YASKAWA representative
6 The shared motion Software operation (1) Reset the alarm, and then try again.
function is not used. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
7 The layer motion Software operation (1) Reset the alarm, and then try again.
8 The general sensor Software operation (1) Reset the alarm, and then try again.
9 The SERVO float Software operation (1) Reset the alarm, and then try again.
10 The laser cutting Software operation (1) Reset the alarm, and then try again.
function (with small error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
circle cutter) is not NANCE mode, and then contact your YASKAWA representative
used. about occurrence status (operating procedure).
No. Code
11 The motor gun func- Software operation (1) Reset the alarm, and then try again.
tion (for spot welding error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
application) is not NANCE mode, and then contact your YASKAWA representative
12 The speed control Software operation (1) Reset the alarm, and then try again.
function (VCON/ error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
VCOF) is not used. NANCE mode, and then contact your YASKAWA representative
13 The SERVO hand Software operation (1) Reset the alarm, and then try again.
function (for handling error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
application) is not NANCE mode, and then contact your YASKAWA representative
14 The laser cutting Software operation (1) Reset the alarm, and then try again.
function (for form cut- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ting operation) is not NANCE mode, and then contact your YASKAWA representative
15 The series communi- Software operation (1) Reset the alarm, and then try again.
cation function be- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tween the systems NANCE mode, and then contact your YASKAWA representative
(PSEND/PRECV) is about occurrence status (operating procedure).
not used.
16 The motion extension Software operation (1) Reset the alarm, and then try again.
17 The bending function Software operation (1) Reset the alarm, and then try again.
Alarm list
2
- 1093
2 - 1094
Alarm list
No. Code
18 The ME-NET function Software operation (1) Reset the alarm, and then try again.
19 The MEMO-PLAY Software operation (1) Reset the alarm, and then try again.
20 The 3D-SHIFT func- Software operation (1) Reset the alarm, and then try again.
tion is not used. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
21 The Equalization Software operation (1) Reset the alarm, and then try again.
to execute an unde- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fined instruction. NANCE mode, and then contact your YASKAWA representative
4566 USER FRAME 1 The teaching points Software operation (1) Reset the alarm, and then try again.
MAKING ERROR are incorrect. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2 The teaching points Setting error (1) Check the following settings.
for user-coordinate ∙Among three taught points in the teaching position. Teach the
turning are incorrect. three points again so that they do not lie in the straight line.
No. Code
3 The robot axis is not Software operation (1) Reset the alarm, and then try again.
specified for the con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trol group of the JOB NANCE mode, and then contact your YASKAWA representative
to prepare the user about occurrence status (operating procedure).
coordinates.
5 Position data error Software operation (1) Reset the alarm, and then try again.
6 Setting error of the Software operation (1) Reset the alarm, and then try again.
slave group for user error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
coordinate conver- NANCE mode, and then contact your YASKAWA representative
sion about occurrence status (operating procedure).
4567 CANNOT MONI- Setting error (1) Check the following settings.
TOR DISTANCE ∙Change the interpolation instruction to MOVL/MOVC.
∙Change the setting so that the arc retry or restart operation does
not perform.
4568 UNDEFINED SUB-Code: Press Setting error (1) Check the following settings.
PRESS COND characteristic file ∙Set the status of press characteristic file to be used in the JOB to
DATA FILE number "Used State."
4569 UNDEFINED SUB-Code: Press Setting error (1) Check the following settings.
PRESS RESOLU- characteristic file ∙Set the press resolution data to be used in the JOB.
TION DATA number
Alarm list
2

- 1095

2 - 1096
Alarm list
No. Code
4571 SERVO FLOAT Software operation (1) Reset the alarm, and then try again.
MODE RELEASE error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ERR NANCE mode, and then contact your YASKAWA representative
4572 NO SERVO GUN Setting error (1) Check the following settings.
CONTROL GROUP ∙Set the "motor gun axis" in the control group setting of MAINTE-
NANCE mode.
4573 SPOT WELDER SUB-Code: Welder Setting error (1) Check the following settings.
NO. ERROR number ∙Correct the welder number set in the gun characteristic file.
4574 SPOT WELD COM- SUB-Code: Welder Setting error (1) Check the following settings.
PLETE TIME LIMIT number ∙Turn ON the timer contactor power.
∙If the response from the timer takes too long time due to the sys-
tem layout, increase the timeout time.
4575 ERROR IN WELD Setting error (1) Check the following settings.
START TIMING ∙Check the settings for the "WST" tag.
SET ∙Check the settings for the pressure file.
4576 ERR IN MOTOR Software operation (1) Reset the alarm, and then try again.
GUN CONT MODE error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
4577 ERR IN MOTOR Software operation (1) Reset the alarm, and then try again.
GUN MODE RE- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
LEASE NANCE mode, and then contact your YASKAWA representative
4578 SPOT WELD ER- SUB-Code: Welder Setting error (1) Check the following settings.
ROR number ∙Check the settings for the timer conductor where the welding er-
ror occurred.
4579 ANTICIPATION 1 No availability in an- Setting error (1) Check the following settings.
CONTROL ERROR ticipation control ·Maximum simultaneous execution number of anticipation control
is twenty. Correct the settings for the JOB so that it is within twen-
ty.
2 The anticipation data Software operation (1) Reset the alarm, and then try again.
exceeded the maxi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
mum length. NANCE mode, and then contact your YASKAWA representative
3 Anticipation control Software operation (1) Reset the alarm, and then try again.
did not complete with- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in the setting time. NANCE mode, and then contact your YASKAWA representative
4580 ANTICIPATION Setting error (1) Check the following settings.
Alarm list
2
DISTANCE NOT ∙Operate the robot to the start position of the step where the alarm
- 1097
ENOUGH occurred, and then re-execute.

2 - 1098
Alarm list
No. Code
4581 DEFECTIVE AN- 1 Incorrect setting of Setting error (1) Check the following settings.
TICIPATION OT OT output number for ∙Check the setting value of OT output number.
FILE anticipation output file
OG output number for ∙Check the setting value of OG output number.
anticipation output file
CUTE GUN TYPE ∙Check the settings for the motion mode set to the gun.
4584 STRWAIT TIME Setting error (1) Check the following settings.
LIMIT ∙Check the cause such as defective limit switch.
4585 SERVO PG ON ER- Connection failure (1) Reset the alarm, and then try again.
ROR (2) If the alarm occurs again, check the connection and inserting
∙Each axes encoder cable
No. Code
4587 MOTOR GUN 1 A GUNCHG instruc- Setting error (1) Check the following settings.
CHANGE ERROR tion was executed in ∙Validate the gun change parameter.
the system configura-
tion that did not allow
the gun change func-
tion.
2 A GUNCHG/PICK in- Setting error (1) Check the following settings.
struction was execut- ∙Execute GUNCHG/PICK instruction when the motor gun motor is
ed while the motor SERVO OFF.
gun motor was SER-
VO ON.
3 A GUNCHG/PICK in- Setting error (1) Check the following settings.
struction was execut- ∙Execute GUNCHG/PICK instruction when the ATC is in chuck
ed while the ATC was status.
in unchuck status.
4 A GUNCHG/PLACE Setting error (1) Check the following settings.
instruction was exe- ∙Execute GUNCHG/PLACE instruction when the ATC is in chuck
cuted while the ATC status.
Alarm list
2
was in unchuck sta-

- 1099
tus.
2 - 1100
Alarm list
No. Code
5 The encoder power Connection failure (1) Reset the alarm, and then try again.
supply could not be (2) If the alarm occurs again, check the connection and inserting
turned ON when exe- state of the following cables and connectors.
cuting a GUNCHG/ ∙The encoder cable of motor gun
PICK instruction.
6 The encoder power Connection failure (1) Reset the alarm, and then try again.
supply could not be (2) If the alarm occurs again, check the connection and inserting
turned OFF when ex- state of the following cables and connectors.
ecuting a GUNCHG/ ∙The encoder cable of motor gun
PLACE instruction.
7 The gun number Setting error (1) Check the following settings.
specified by the ∙Change the gun characteristic file number specified by GUNCHG
GUNCHG instruction instruction to object gun number.
did not agree with the ∙Change the gun identification signal so that it become the objec-
gun identification sig- tive gun number.
nal.
No. Code
8 The 1st gun axis se- Setting error (1) Check the following settings.
lection signal is not ∙Check the 1st gun axis selection signal setting.
set when executing
the twin-wrist gun
change.
9 The right and left gun Setting error (1) Check the following settings.
axis selection signals ∙Check the setting for the gun axis selection signal.
were duplicated when
executing the twin-
wrist gun change.
10 The control group for Setting error (1) Check the following settings.
gun axis is not set in ∙Check the settings for the control-group of the JOB.
the gun change JOB.
11 Multiple robots are Setting error (1) Check the following settings.
not set in the gun ∙Check the settings for the control-group of the JOB.
change JOB.
4589 ABRASION BASIS Setting error (1) Check the following settings.
POS UNSETTING ∙Resister the reference position of wear correction.
Alarm list
2
- 1101
2 - 1102
Alarm list
No. Code
4590 NO SERVO HAND Setting error (1) Check the following settings.
CONTROL GROUP ∙Set the "SERVO hand axis" in the control group setting of MAIN-
TENANCE mode.
4591 SPEED CTRL Software operation (1) Reset the alarm, and then try again.
MODE SET ERR error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4592 SPEED CTRL Software operation (1) Reset the alarm, and then try again.
MODE CANCEL error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ERR(SV) NANCE mode, and then contact your YASKAWA representative
4593 SVHAND CTRL Software operation (1) Reset the alarm, and then try again.
4594 SVHND CTRL Software operation (1) Reset the alarm, and then try again.
ERR (SV) NANCE mode, and then contact your YASKAWA representative
No. Code
4595 CAN'T DO FIXED 1 The setting for radius Setting error (1) Check the following settings.
FORM CUT MO- is incorrect. ∙Setting of the radius data
TION (1) For a circle, it is in-
correctly set as: radi-
us <= 0, radius <
minimum radius val-
ue, or radius > maxi-
mum radius value.
(2) For an ellipse, it is
incorrectly set as: ra-
dius <= 0, radius <
minimum radius val-
ue/2, or radius >
(maximum radius/2 -
width/2).
2 The setting for width Setting error (1) Check the following settings.
is incorrect. ∙Setting of the width data
(1) For a rectangle, it
is incorrectly set as:
width < 1.0, width >
sqrt (maximum diam-
eter2 - height2), or
width > maximum di-
ameter.
(2) It is incorrectly set
as: width < 0, width >
maximum diameter -2
* radius.
Alarm list
2
- 1103

2 - 1104
Alarm list
No. Code
3 The setting for height Setting error (1) Check the following settings.
is incorrect. ∙Setting of the height data
height > maximum di-
ameter, height < mini-
mum diameter/2, or
height > sqrt (maxi-
mum diameter2 -
width2).
4 The setting for the Setting error (1) Check the following settings.
corner radius is incor- ∙Setting of the corner radius
rect.
corner radius > width/
2 or corner radius >
height/2.
No. Code
5 The setting for over- Setting error (1) Check the following settings.
lap is incorrect. ∙Setting of the overlap data
is incorrectly set as
overlap > width/2.
(2) For a circle, it is in-
correctly set as over-
lap > ABS (2π *
radius).
(3) For an ellipse, it is
incorrectly set as
overlap > π * radius
+ABS (width/2).
6 The setting for the Setting error (1) Check the following settings.
cutting speed is incor- ∙Setting of the cutting speed
rect. It is set as the
cutting speed > maxi-
mum linear speed.
7 Coordinated motion Setting error (1) Check the following settings.
cannot be used with ∙Do not use the coordinated motion.
the Form Cutting mo-
tion.
Alarm list
2
- 1105
2 - 1106
Alarm list
No. Code
value is set in the min- ∙The setting of the minimum diameter parameter (S1CxG063) for
imum diameter pa- the Form Cutting motion.
rameter (S1CxG063)
for the Form Cutting
motion.
value is set in the ∙The setting of the maximum diameter parameter (S1CxG063) for
maximum diameter the Form Cutting motion.
parameter
(S1CxG064) for the
Form Cutting motion.
10 Although "PLACE- Setting error (1) Check the following settings.
MENT" or "AUTO" is ∙Execute the FORMAPR instruction.
set for the start point
designation on the
FORM CUT SET-
TING window, the
FORMAPR instruc-
tion was not execut-
ed.
No. Code
11 The Cut file setting of Setting error (1) Check the following settings.
the FORMAPR in- ∙The Cut file settings of FORMAPR and FORMCUT instructions
struction is different must be same.
from that of the
FORMCUT instruc-
tion.
12 A FORMAPR instruc- Setting error (1) Check the following settings.
tion was used for the ∙The FORMAPR instruction cannot be used for the conventional
conventional FORM- FORMCUT instruction.
CUT instruction. ∙Validate the new FORMCUT instruction.
13 A form other than a Setting error (1) Check the following settings.
circle, rectangle, and ∙A form other than a circle, rectangle, and ellipse cannot be des-
ellipse was designat- ignated for the conventional FORMCUT instruction.
ed for the convention- ∙Validate the new FORMCUT instruction.
al FORMCUT
instruction.
90 The radius data set- Setting error (1) Check the following settings.
ting for special circu- ∙Setting of the radius data
lar interpolation is
incorrect. It is incor-
rectly set as the radi-
Alarm list
us <= 0.
2
- 1107
2 - 1108
Alarm list
No. Code
91 The arc center coordi- Setting error (1) Check the following settings.
nates could not be ∙Setting of the teaching
calculated at special
circular interpolation.
Incorrect teaching
may be the cause.
93 The averaging time at Setting error (1) Check the following settings.
special circular inter- ∙Moving distance
polation motion is too ∙Motion speed
short.
94 Because the desig- Setting error (1) Check the following settings.
nated plane included ∙Setting of the reference point 2
reference points at
special circular inter-
polation motion, the
arc center coordi-
nates could not be
calculated. Incorrect
teaching of the refer-
ence point 2 may be
the cause.
No. Code
100 The arc center posi- Setting error (1) Check the following settings.
tion is not set for the ∙Check the settings for the reference point 1 as the arc center po-
special circular inter- sition.
polation motion.
4596 FORMCUT ERROR 1 An attempt was made Execute condition (1) Check the following settings.
to re-execute the failure ∙Re-execute the move instruction executed before the FORMCUT
FORMCUT instruc- instruction, and then execute the FORMCUT instruction again.
tion after interrupting
it.
4597 OFFLINE POSI- 1 Incorrect information Software operation (1) Reset the alarm, and then try again.
TION DATA CON- of reference position error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
VERT ERR data for offline posi- NANCE mode, and then contact your YASKAWA representative
tion data conversion about occurrence status (operating procedure).
2 Incorrect user-coordi- Software operation (1) Reset the alarm, and then try again.
nate number designa- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion in the standard NANCE mode, and then contact your YASKAWA representative
position data for of- about occurrence status (operating procedure).
fline position data
conversion
3 Incorrect reference- Software operation (1) Reset the alarm, and then try again.
point data for offline error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
position data conver- NANCE mode, and then contact your YASKAWA representative
sion about occurrence status (operating procedure).
Alarm list
2
- 1109
2 - 1110
Alarm list
No. Code
4 The standard position Setting error (1) Check the following settings.
data for offline posi- ∙The variable position may be out of the robot motion range.
tion data conversion Check if the variable position is within the robot motion range.
could not correctly be
calculated.
5 Incorrect pulse incre- Software operation (1) Reset the alarm, and then try again.
mental value for of- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fline position data NANCE mode, and then contact your YASKAWA representative
conversion about occurrence status (operating procedure).
6 The position data Software operation (1) Reset the alarm, and then try again.
could not correctly be error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
added by the pulse in- NANCE mode, and then contact your YASKAWA representative
cremental value at the about occurrence status (operating procedure).
offline position data
conversion.
7 Incorrect Cartesian Software operation (1) Reset the alarm, and then try again.
incremental value for error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
offline position data NANCE mode, and then contact your YASKAWA representative
8 The position data Setting error (1) Check the following settings.
could not correctly be ∙The variable position may be out of the robot motion range.
added by the Carte- Check if the variable position is within the robot motion range.
sian incremental val-
ue at the offline
position data conver-
sion.
No. Code
9 The position conver- Software operation (1) Reset the alarm, and then try again.
sion could not be error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
done in the designat- NANCE mode, and then contact your YASKAWA representative
ed coordinate system about occurrence status (operating procedure).
at the offline position
data conversion.
10 Incorrect incremental Software operation (1) Reset the alarm, and then try again.
value of angle for of- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
11 The position data Software operation (1) Reset the alarm, and then try again.
added by the incre- NANCE mode, and then contact your YASKAWA representative
mental value of angle about occurrence status (operating procedure).
at the offline position
data conversion.
12 The reverse shift val- Software operation (1) Reset the alarm, and then try again.
ue for 3D shifting error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
could not correctly be NANCE mode, and then contact your YASKAWA representative
calculated at the of- about occurrence status (operating procedure).
fline position data
conversion.
ue for 3D shifting error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
added at the offline about occurrence status (operating procedure).
sion.
ue could not correctly error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
be calculated at the NANCE mode, and then contact your YASKAWA representative
Alarm list
2
offline position data about occurrence status (operating procedure).

- 1111
conversion.
2 - 1112
Alarm list
No. Code
ue could not correctly error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
be calculated at the NANCE mode, and then contact your YASKAWA representative
offline position data about occurrence status (operating procedure).
conversion.
16 The 3D shifting value Software operation (1) Reset the alarm, and then try again.
added at the offline NANCE mode, and then contact your YASKAWA representative
position data conver- about occurrence status (operating procedure).
sion.
17 The shift value could Software operation (1) Reset the alarm, and then try again.
not correctly be add- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ed at the offline posi- NANCE mode, and then contact your YASKAWA representative
tion data conversion. about occurrence status (operating procedure).
18 No reference point is Software operation (1) Reset the alarm, and then try again.
specified for the of- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
conversion. about occurrence status (operating procedure).
19 The positions for the Software operation (1) Reset the alarm, and then try again.
mirror shift function error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
calculated at the of- about occurrence status (operating procedure).
fline position data
conversion.
20 The positions could Setting error (1) Check the following settings.
not correctly be con- ∙The variable position may be out of the robot motion range.
verted for the mirror Check if the variable position is within the robot motion range.
shift function at the of-
fline position data
conversion.
No. Code
21 The expansion posi- Setting error (1) Check the following settings.
tions for the mirror ∙The variable position may be out of the robot motion range.
shift function could Check if the variable position is within the robot motion range.
not correctly be con-
verted at the offline
sion.
of coordinates for a error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
new mirror-shift con- NANCE mode, and then contact your YASKAWA representative
version function at the about occurrence status (operating procedure).
offline position data
conversion
23 Incorrect designation Software operation (1) Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and
of the occupation con- error occurred then try again.
trol group for welding (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
path shift function. NANCE mode, and then contact your YASKAWA representative
24 The inverse shift data Software operation (1) Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and
for welding path shift error occurred then try again.
function could not cor- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rectly be calculated. NANCE mode, and then contact your YASKAWA representative
25 The inverse shift data Software operation (1) Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and
for welding path shift error occurred then try again.
function could not cor- (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
rectly be added. NANCE mode, and then contact your YASKAWA representative
Alarm list
2

- 1113
2 - 1114
Alarm list
No. Code
4598 PAINTOUT ERROR 1 The parameter set- Setting error (1) Check the following settings.
ting for the universal ∙Check the settings for the AxP011.
input group number is
incorrect.
4599 SERVO COMMAND An attempt was made Software operation (1) Reset the alarm, and then try again.
ERROR to issue the command error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
while the SERVO NANCE mode, and then contact your YASKAWA representative
control processing about occurrence status (operating procedure).
has not completed.
SUB-Code: SERVO
CPU bit number
No. Code
4601 UNDEFINED GUN SUB-Code: Gun con- Setting error (1) Check the following settings.
COND FILE dition file number ∙Complete the gun condition file setting.
4603 WIRE STICKING SUB-Code: Welder Setting error (1) Check the following settings.
number ∙Remove the cause of wire stick.
4604 SPECIFIED ERR Setting error (1) Check the following settings.
(ABSO RECOVER ∙Registration for the home position correction data.
AXIS)
4605 SETTOOL ERROR 1 The difference be- Setting error (1) Check the following settings.
tween the current tool ∙Correct the JOB so that the setting value of tag is allowable val-
constant and a new ue.
set value exceeded ∙Set the allowance amount of the tool data automatic setting func-
the allowable range tion maximum deviation (S3C1192) to large value.
(parameter set val-
ue).
4606 LACK OF GLOBAL Software operation (1) Reset the alarm, and then try again.
VARIABLE AREA error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 1115
2 - 1116
Alarm list
No. Code
4607 WRONG EXECU- 1 The execution macro Setting error (1) Check the following settings.
TION OF MACRO JOB is not set. ∙Check the settings for execution macro JOB.
INST
2 The suspend macro Setting error (1) Check the following settings.
JOB is not set. ∙Check the settings for suspend macro JOB.
to start the JOB that ∙Check the settings for macro JOB.
could not be started
by the macro instruc-
tion.
the operation process error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
of JOB call stack NANCE mode, and then contact your YASKAWA representative
when the execution of about occurrence status (operating procedure).
macro instruction was
cancelled.
6 Incorrect macro num- Software operation (1) Reset the alarm, and then try again.
ber error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4608 WRONG EXECU- 1 The JOB argument is Setting error (1) Check the following settings.
TION OF GETARG not set. ∙Check the settings for JOBs.
INST
No. Code
2 No number of the Setting error (1) Check the following settings.
specified JOB argu- ∙Check the settings for JOBs.
ment
3 The data types of Setting error (1) Check the following settings.
JOB argument dis- ∙Check the settings for JOBs.
agreed.
4609 MEMOPLAY ER- 2 The memory play file Setting error (1) Check the following settings.
ROR was being used in an- ∙Check the setting of the used memory play file number.
other system.
5 The control group in Setting error (1) Check the following settings.
the memory play file ∙Check the control group setting of the used memory play file.
did not agree with the
control group of exe-
cution JOB.
Alarm list
2
- 1117
2 - 1118
Alarm list
No. Code
to clear the memory ∙Execute the MEMOF instruction, and then execute the CLEAR
play file by a CLEAR instruction.
instruction before
having executed a
MEMOF instruction.
4610 MEMOPLAY SAM- 1 Failed to read the Software operation (1) Reset the alarm, and then try again.
PLING ERROR memory play sam- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
pling data. NANCE mode, and then contact your YASKAWA representative
2 Failed to write the Software operation (1) Reset the alarm, and then try again.
memory play sam- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3 Failed to seek the Software operation (1) Reset the alarm, and then try again.
memory play sam- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 Failed to read the Software operation (1) Reset the alarm, and then try again.
memory play file. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 Incorrect mode set- Setting error (1) Check the following settings.
ting at memory play ∙Check the settings for the memory play mode.
sampling
No. Code
of the control group at error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
memory play sam- NANCE mode, and then contact your YASKAWA representative
pling about occurrence status (operating procedure).
7 Designation of the Setting error (1) Check the following settings.
control group in the ∙Check the number of the memory play file for use.
memory play file did
not agree with the
designation of the
control
group at MEMON in-
struction execution
(when the start point
was specified).
8 Designation of the Setting error (1) Check the following settings.
not agree with the
designation of the
control group at
MEMON instruction
execution (at initial-
ization).
Alarm list
2
- 1119
2 - 1120
Alarm list
No. Code
9 designation of the Setting error (1) Check the following settings.
not agree with the
designation of the
control
group at MEMON in-
struction execution
(at continue).
10 It started reproducing Setting error (1) Check the following settings.
though it did not re- ∙Record and then play.
cord.
11 Correction amount to Setting error (1) Check the following settings.
record is out of the al- ∙Correct the position of object workpieces so that the correction
lowable range. amount fall within allowable range.
12 The number of re- Setting error (1) Check the following settings.
corded correction- ∙Correct the JOB so that the movement section of memory play
amount exceeded the object is shorter.
limit.
No. Code
13 Memoplay file Create Software operation (1) Reset the alarm, and then try again.
error (REC) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
14 Memoplay debug er- Software operation (1) Reset the alarm, and then try again.
ror C_BANK.func_c- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trl (initial) NANCE mode, and then contact your YASKAWA representative
ror C_BANK.func_c- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
trl (continue) NANCE mode, and then contact your YASKAWA representative
ror C_BANK error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
RT_BANK.func_ctrl NANCE mode, and then contact your YASKAWA representative
(continue) about occurrence status (operating procedure).
ror MOVL, MOVC error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(continue) NANCE mode, and then contact your YASKAWA representative
ror Same point, mov- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ing amount is zero NANCE mode, and then contact your YASKAWA representative
(continue) about occurrence status (operating procedure).
ror Dividing number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4611 OVER OPTON Setting error (1) Check the following settings.
INST EXECUTION ∙Check the settings for the OPTON instruction. OPTON instruc-
Alarm list
2
LIMIT tion can use only the function to five simultaneously.

- 1121
2 - 1122
Alarm list
No. Code
4612 TSYNC ERROR SUB-Code: the num- Setting error (1) Check the following settings.
ber of synchroniza- ∙Check the settings for the number of synchronizations of the
tions of the first TSYNC instruction.
executed TSYNC
4613 SERVO SEALER 1 The function designa- Setting error (1) Check the following settings.
GUN CONTROL tion parameter is not ∙Check the settings for the function designation parameter.
ERROR set.
2 No sealer gun axis Setting error (1) Check the following settings.
exists at the JOB for ∙Check the settings for the control-group of the JOB.
which the sealer gun
control was attempt-
ed to be executed.
3 No robot axis exists at Setting error (1) Check the following settings.
the JOB at which an ∙Check the settings for the control-group of the JOB.
attempt was made to
execute sealer gun
control.
No. Code
4 Incorrect designation Setting error (1) Check the following settings.
of the control method ∙Set either "1" or "2" for PRM1 control method designation of the
for sealer gun control OPTON instruction.
of the control method ∙If "1" is set for PRM1 of the OPTON instruction, set the PRM2
for sealer gun control needle position designation to a value between 0 and 100.
of the sealing width ∙If "2" is set for PRM1 of the OPTON instruction, set PRM2 sealing
for sealer gun control width designation to a value between 0 and 30.
4614 UNDEFINED Setting error (1) Check the following settings.
SEALERGUN ∙Check the settings for SERVO sealer gun condition file.
COND FILE
4615 I/O AXIS OPERAT- An attempt was made Setting error (1) Check the following settings.
ING to command a JOB ∙Does not the I/O axis motion executed for the control group that
whose control group executing the JOB?
was in I/O axis mo- ∙Does not the JOB executed for the control group that operating
tion. by the I/O axis motion?
The control group where the I/O axis is operating cannot execute
Alarm list
2
the JOB. Moreover, the I/O axis motion cannot perform for the
- 1123
control group where the JOB is executing.

2 - 1124
Alarm list
No. Code
4616 AXIS SHIFT ER- 1 The file could not be Software operation (1) Reset the alarm, and then try again.
ROR switched because of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
incorrect start point NANCE mode, and then contact your YASKAWA representative
designation. about occurrence status (operating procedure).
2 The control group Software operation (1) Reset the alarm, and then try again.
with which the axis error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
shifting is performed NANCE mode, and then contact your YASKAWA representative
disagrees with the about occurrence status (operating procedure).
control group set for
the axis shifting func-
tion in the calibration
file.
3 The calibration file Setting error (1) Check the following settings.
number for axis shift- ∙Correct the settings for the OPTON instruction tag so that value
ing function is out of of the file number specification is 1 to 32.
the applicable range.
4617 S/U IMPOSSIBLE 1 For the CSL15D ro- Setting error (1) Check the following settings.
MOVE (L/R POS) bot, the motion speed ∙Reduce the teaching speed of S- and U-axes.
of S- and U-axes ex- ∙Teach the positions of L- and R-axes again so that S- and U-axes
ceeded the upper lim- can move.
it.
No. Code
2 For the CSL15D ro- Setting error (1) Check the following settings.
bot, S- and U-axes ∙Teach the positions of L- and R-axes again so that S- and U-axes
were going to move can move.
regardless of the limit
speed "0" when the
positions of L- and R-
axes exceeded the
upper limit.
4618 SHIFT INST EXE- 1 For the tool shift with Setting error (1) Check the following settings.
CUTE ERROR Euler angle ± 90 de- ∙Check if the shift value is setting for Y-axis only.
grees, the shift value
for axes other than Y-
axis is set.
4619 UNDEFINED JOB SUB-Code: Designat- Setting error (1) Check the following settings.
ENTRY TABLE ed registration num- ∙Check the settings for the JOB registration table.
ber
4620 ARM (TOOL) IN- SUB-Code: Group Setting error (1) Check the following settings.
TERFERENCE (Interferening) &Axis ∙Change the teaching so that the robots specified by SUB-Code
(Interfering) &Group will not interfere with each other.
(Interfered) &Axis (In- ∙Check if the tool model (Tool interference file) of the robot spec-
terfered) ified by SUB-Code is correctly set.
Alarm list
∙Check if calibration between the robots are correctly set.
2
- 1125
2 - 1126
Alarm list
No. Code
4621 WELD COMPLETE SUB-Code: Welder Setting error (1) Check the following settings.
SIGNAL ERROR number ∙Check the settings for welding completion signal.
4622 SELF-INTERFER- SUB-Code: Setting error (1) Check the following settings.
ENCE Group&Axis(Interfer- ∙Change the teaching so that each part of the robot specified by
ing)&Axis(Interfered) SUB-Code will not interfere.
∙Check if the tool model (Tool interference file) displayed by SUB-
Code is correctly set.
4623 WRONG EXECU- 1 An attempt was made Setting error (1) Check the following settings.
TION OF GETPOS to obtain the step that ∙Check the settings for the GETPOS instruction.
INST used a local position
type variable.
(The step with local
position type variable
cannot be fetched.
Example: MOVJ
LP000 VJ=25.00)
No. Code
to obtain the step that ∙Check the settings for the GETPOS instruction.
used a local position
type variable.
(The step with local
position type variable
cannot be fetched.
Example: MOVJ
LP000 VJ=25.00)
3 The specified step did Setting error (1) Check the following settings.
not exist. ∙Check the settings for the GETPOS instruction.
4624 PLUG VOLUME Setting error (1) Check the following settings.
SETTING ERROR ∙Check the setting for the amount of fillings.
4625 WRONG EXECU- 1 No file Software operation (1) Reset the alarm, and then try again.
TION OF LOADDB error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
INST NANCE mode, and then contact your YASKAWA representative
2 No directory Software operation (1) Reset the alarm, and then try again.
Alarm list
2
- 1127
2 - 1128
Alarm list
No. Code
4 There was no directo- Software operation (1) Reset the alarm, and then try again.
ry entry after this error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
point. NANCE mode, and then contact your YASKAWA representative
-1 No file name Software operation (1) Reset the alarm, and then try again.
-2 File presence error Software operation (1) Reset the alarm, and then try again.
-3 Incorrect file name Software operation (1) Reset the alarm, and then try again.
-4 The disk is full. Software operation (1) Reset the alarm, and then try again.
-5 The directory is full. Software operation (1) Reset the alarm, and then try again.
-6 I/O error Software operation (1) Reset the alarm, and then try again.
-7 Invalid handle Software operation (1) Reset the alarm, and then try again.
No. Code
-8 Handle overflow Software operation (1) Reset the alarm, and then try again.
-9 File has already been Software operation (1) Reset the alarm, and then try again.
opened. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-10 File attribute error Software operation (1) Reset the alarm, and then try again.
-11 Open mode error Software operation (1) Reset the alarm, and then try again.
-12 The hardware disk Software operation (1) Reset the alarm, and then try again.
with large capacity is error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-14 The door is open. Software operation (1) Reset the alarm, and then try again.
-15 The disk is write-pro- Software operation (1) Reset the alarm, and then try again.
tected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-30 Card controller ac- Software operation (1) Reset the alarm, and then try again.
cess error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1129

2 - 1130
Alarm list
No. Code
-31 No card Software operation (1) Reset the alarm, and then try again.
-32 Card drive informa- Software operation (1) Reset the alarm, and then try again.
tion readout error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-33 Partition table error Software operation (1) Reset the alarm, and then try again.
-34 No drive number Software operation (1) Reset the alarm, and then try again.
-35 No specified partition Software operation (1) Reset the alarm, and then try again.
number error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-36 Cluster size error Software operation (1) Reset the alarm, and then try again.
-37 Incorrect number of Software operation (1) Reset the alarm, and then try again.
sectors error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-38 Sector/byte error Software operation (1) Reset the alarm, and then try again.
No. Code
-40 Card not applicable Software operation (1) Reset the alarm, and then try again.
for I/O error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-41 Unsupported version Software operation (1) Reset the alarm, and then try again.
-42 The setting register Software operation (1) Reset the alarm, and then try again.
did not exist. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-43 Card not applicable Software operation (1) Reset the alarm, and then try again.
for ATA error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-44 Double chain error Software operation (1) Reset the alarm, and then try again.
-45 Media error (not fixed Software operation (1) Reset the alarm, and then try again.
disk) error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-50 ATA command in- Software operation (1) Reset the alarm, and then try again.
complete error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
-51 Sector read com- Software operation (1) Reset the alarm, and then try again.
Alarm list
2

- 1131

2 - 1132
Alarm list
No. Code
-52 Sector write com- Software operation (1) Reset the alarm, and then try again.
4626 IMPOSSIBLE S- Setting error (1) Check the following settings.
AXIS MOV (IN ∙Check the settings for the limit distance for S-axis rotation center
SPHERE) motion (S1CG067).
4627 GUN RECOGNI- SUB-Code: Gun Setting error (1) Check the following settings.
TION SIGNAL OFF number ∙Check the settings for the gun identification signal.
4628 WRITE VARIABLE SUB-Code: Duplicat- Setting error (1) Check the following settings.
NO. MULTI SET- ed variable number ∙Check the settings for the written destination variable numbers.
TING
4629 GROUP CHANGE 1 The group change pa- Setting error (1) Check the following settings.
ERROR rameter was invalid. ∙Validate the group change parameter.
2 The GRPCHG in- Setting error (1) Check the following settings.
struction was execut- ∙Execute the GRPCHG instruction when the external axis motor
ed while the external was SERVO OFF.
axis motor was SER-
VO ON.
No. Code
3 The GRPCHG in- Setting error (1) Check the following settings.
struction was execut- ∙Execute the GRPCHG instruction in chuck status.
ed in unchuck status.
4 The group identifica- Setting error (1) Check the following settings.
tion signal was not re- ∙Check the settings for group identification signal.
ceived.
5 The specified control Setting error (1) Check the following settings.
group number and the ∙Check the settings for the specified control group number.
group identification
number were un-
matched.
6 The encoder PG pow- Setting error (1) Check the following settings.
er supply was OFF ∙Turn ON the encoder PG power supply when GRPCHG is ON.
when the GRPCHG
was ON.
Alarm list
2
- 1133
2 - 1134
Alarm list
No. Code
7 The encoder PG pow- Setting error (1) Check the following settings.
er supply was ON ∙Turn OFF the encoder PG power supply when GRPCHG is OFF.
when the GRPCHG
was OFF.
8 The control group that Setting error (1) Check the following settings.
corresponded to the ∙Check the settings for group identification signal.
received group identi-
fication signal did not
exist.
4630 DUPLICATED GUN SUB-Code: The over- Setting error (1) Check the following settings.
NUMBER lapped gun number ∙Check the settings for gun numbers.
4631 DEFECTIVE OPER- SUB-Code: Control Setting error (1) Check the following settings.
ATION VELOCITY group and axis ∙Check if the speed is hold down by the speed override and spe-
cial operations etc.
4632 UNDEFINED LNR SUB-Code: Linear Setting error (1) Check the following settings.
SCALE FILE scale characteristic ∙Complete the settings for the linear scale condition file.
file number
No. Code
4633 FOLLOWING ER- 1 An error occurred Setting error (1) Check the following settings.
ROR when executing a ∙Re-execute the move instruction executed before the FOLLOW
FOLLOW instruction. instruction, and then execute the FOLLOW instruction again.
An attempt was made
to re-execute the
FOLLOW instruction
after interrupting it.
4634 FOLLOWING Setting error (1) Check the following settings.
SPEED OVER ∙Reduce the bending speed.
∙Reduce the robot moving distance.
4635 CANNOT EXE- SUB-Code: The relat- Setting error (1) Check the following settings.
CUTE COMMON ed control-group ∙Check the settings for control group specified by the CALL in-
JOB struction.
4636 THICKNESS ER- SUB-Code: Gun Setting error (1) Check the following settings.
ROR number ∙Weld the spot by thickness within allowable range.
4637 TRACK CHG SUB-Code: Conveyor Setting error (1) Check the following settings.
WORK IN/NOT NOT characteristic file ∙Check the workpiece presence/absence and data settings for the
FOUND number synchronization section.
Alarm list
2
- 1135
2 - 1136
Alarm list
No. Code
4638 TRACKING CHG SUB-Code: Conveyor Setting error (1) Check the following settings.
WORK ID NOT characteristic file ∙Check the workpiece presence/absence and data settings for the
FOUND number synchronization section.
4639 SYMOVJ INST EX- 2 The conveyor moving Setting error (1) Check the following settings.
ECUTE ERROR amount is not speci- ∙Set the conveyor moving amount for the SYMOVJ motion.
fied for the SYMOVJ
motion.
the preparation pro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cess of the robot mo- NANCE mode, and then contact your YASKAWA representative
tion start position for about occurrence status (operating procedure).
the SYMOVJ motion.
the preparation pro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cess of the robot mo- NANCE mode, and then contact your YASKAWA representative
tion end position for about occurrence status (operating procedure).
the SYMOVJ motion.
4640 WRONG EXECU- 1 No axis data of con- Setting error (1) Check the following settings.
TION OF PSTART trol group to be dis- ∙Check the settings for PSTART instruction.
INST connected
No. Code
to disconnect a con- ∙Check the settings for PSTART instruction.
trol group other than
the occupation con-
trol group during pre-
reading processing.
to disconnect a con- ∙Check the settings for PSTART instruction.
trol group other than
the occupation con-
trol group when exe-
cuting a PSTART
instruction.
4641 CANNOT EXE- SUB-Code: The dis- Setting error (1) Check the following settings.
CUTE JOB connected control ∙Correct the teaching so that the control group disconnected by it-
(SEPARATE GRP) group used by a move self is not to operate for move instruction of own system.
instruction
4644 SPOT WELDER I/F 8 The controller could Connection failure (1) Reset the alarm.
ERROR (ASW) not send an instruc- (2) If the alarm occurs again, check the connection and inserting
tion to the welder be- state of the following cables and connectors.
cause the welder was ∙DENGENSHA welding I/F board
Alarm list
busy in processing. ∙NADEX DeviceNet cable
2
- 1137
2 - 1138
Alarm list
No. Code
9 Welding current error Software operation (1) Reset the alarm, and then try again.
at welding is complet- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ed successfully. NANCE mode, and then contact your YASKAWA representative
10 Abnormal code error Software operation (1) Reset the alarm, and then try again.
at welding is complet- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ed successfully. NANCE mode, and then contact your YASKAWA representative
11 Welding command Software operation (1) Reset the alarm, and then try again.
process exceptional error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
102 The specified welder Setting error (1)Check the following setting.
number (system) ∙Confirm the specified welder number (system) and the setting.
could not be found.
4645 NOT PERMIT Setting error (1)Check the following setting.
FIXED-WEAV ON ∙Check the settings for JOBs.
SWVON
4648 FILE TRANSFER 1 Motion range file Setting error (1)Check the following setting.
ERROR (ARITH) transfer error ∙Check if the motion range file is correctly set.
No. Code
2 Part motion range file Setting error (1)Check the following setting.
transfer error ∙Check if the part motion range is correctly set.
4649 PARTIAL MOTION SUB-Code: Interfer- Setting error (1)Check the following setting.
RANGE INTRF. ence control group ∙Check the setting of the teaching position of the robot.
number & interfer-
ence axis & interfer-
ence area number.
4650 TRQ CLEAR ER- Software operation (1) Reset the alarm, and then try again.
ROR error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4651 PALLETIZING EXE- 1 The setting of the pal- Setting error (1) Check the following settings.
CUTE ERROR letizing condition con- ∙Set the palletizing condition setting file to "Completed".
figuration file is
incomplete.
4 Palletize completion Setting error (1) Check the following settings.
universal output num- ∙Change the palletize completion universal output signal number
ber range exceeds of the palletizing condition setting file in the user output signal
the limit. point of contact number.
Alarm list
2

- 1139
2 - 1140
Alarm list
No. Code
5 During the palletize Setting error (1) Check the following settings.
start instruction exe- ∙Delete the palletize start instruction in the palletize section.
cution, the palletize
start instruction is ex-
ecuted again (double
execution).
6 The value of the pal- Setting error (1) Check the following settings.
letizing number pres- ∙Check if the palletizing number of current position output register
ent value output (or I variable) and total number of output register (or I variable) is
register (or I variable) not changed by another function.
is more than the total
number output regis-
ter (or I variable).
7 Palletize completion Setting error (1) Check the following settings.
universal output sig- ∙Reset the palletize completion universal output signal.
nal is turned ON at
palletize start instruc-
tion execution.
8 Palletize end instruc- Setting error (1) Check the following settings.
tion is not registered. ∙Register the palletizing end instruction.
No. Code
4652 TRQ MEASURE Software operation (1) Reset the alarm, and then try again.
(SV) NANCE mode, and then contact your YASKAWA representative
4653 TRQ MEASURE Software operation (1) Reset the alarm, and then try again.
ERR (SV) NANCE mode, and then contact your YASKAWA representative
TION OF SETREG to change the value of ∙The SETREGM instruction cannot change the analog input reg-
INST the analog input register values. Correct the setting of tag that specifies register num-
ister. ber of SETREG instruction.
to change the value of ∙The SETREGM instruction cannot change the register values
the register currently used in TMR/CNT. Correct the setting of tag that specifies register
used by TMR/CNT. number of SETREG instruction.
to change the value of ∙Correct the setting of tag that specifies register number of SE-
the register currently TREG instruction.
used by TMR/CNT.
Alarm list
2
- 1141
2 - 1142
Alarm list
No. Code
4655 WRONG EXECU- 65535 An attempt was made Software operation (1) Reset the alarm, and then try again.
TION OF GETREG to acquire the value of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
INST the register not exist- NANCE mode, and then contact your YASKAWA representative
TION OF SETPRM to change a parame- ∙The SETPRM instruction cannot change the parameter values
INST ter other than the other than the parameter related to the cube. Correct the setting
cube-related parame- of tag that specifies parameter number of SETPRM instruction.
ter.
2 The SETPRM instruc- Setting error (1) Check the following settings.
tion was executed ∙The SETPRM instruction cannot execute while another system is
while another system operating. Correct the JOB.
was in execution.
4657 WVADJ ERROR 1 The correction ampli- Setting error (1) Check the following settings.
tude value did not fall ∙Correct the settings for "groove width correction limit value" spec-
in the limit range. ified for S2C1259 and 1260.
4658 OVER SPEED LIM- 1 The taught speed was Setting error (1) Check the following settings.
IT going to exceed the ∙Reduce the teaching speed of the step where the alarm occurred
limit during the multi to the speed limit or less.
arm simultaneous op-
eration.
No. Code
4659 TIP DRESS WATCH Software operation (1) Reset the alarm, and then try again.
SET ERROR error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4660 TIP DRESS WATCH Software operation (1) Reset the alarm, and then try again.
CANCEL ERROR error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4661 MEMORY ERROR SUB-Code: File num- Data error (1) Reset the alarm.
(PRESS COND ber (2) If the alarm occurs again, initialize the press characteristic file
FILE) in MAINTENANCE mode, and then load the press characteristic
occurred.
Alarm list
2
- 1143
2 - 1144
Alarm list
No. Code
4662 PRESS SYNCHRO- 5 Unable to set the cor- Setting error The alarm occurs if the MOVE instruction except MOVJ with ENC
NOUS ERROR rection data for the tag is operated during Press synchronous control.
press synchronous Reset the press synchronous control by the following operations
control. to operate the MOVE instruction expect MOVJ with ENC tag.
∙Confirm that press machine and robot must be stopped
∙Make Specific Input PRESS SYNC OFF(#41010) ON
∙Confirm that the Specific Output PRESS SYNC (#50683) is
OFF.
4666 UNDEFINED WELD Setting error (1) Check the following settings.
LENGTH CHECK ∙Complete the settings for the weld length check condition file.
FILE
4667 DEFECTIVE GUN SUB-Code: Gun Setting error (1) Check the following settings.
PRESSURE FILE pressure file number ∙Match the number of "END WAIT" in the gun pressure file, and
the number of "Welding Conditions(WTM)" in the instruction.
(PREVENTION (2) If the alarm occurs again, initialize the MAINTENANCE pre-
FILE) vention file in MAINTENANCE mode, and then load the MAINTE-
NANCE prevention file saved in the external memory device.
No. Code
occurred.
4669 DETECT BRAKE SUB-Code: Signifies Module failure (mo- (1) Reset the alarm.
SLIP the axis in which the tor) (2) If the alarm occurs again, replace the motor.
alarm occurred (3)If the alarm of „external brake“ is occurred, replace the external
brake.
Setting error (1)Reset the alarm.
·Check torque value.
4670 INSUFFICIENT SUB-Code: Signifies Setting error (1) Reset the alarm.
NUM OF SAMPLE the axis in which the (2)Lengthen the measurement section.
DATA alarm occurred
4671 SAMPLE BUFFER SUB-Code: Signifies Setting error (1) Reset the alarm.
OVER FLOW the axis in which the (2)Shorten the measurement section.
alarm occurred
Alarm list
2

- 1145
2 - 1146
Alarm list
No. Code
4672 BASIC SPEED UN- SUB-Code: Signifies Setting error (1) Reset the alarm.
REACHED the axis in which the (2)Increase the speed specification value of a measurement JOB
alarm occurred or set a small value for BASICV.
Or set a small value for BASICT, or lengthen the measurement
section.
4673 MAX TRQ UNDE- SUB-Code: Signifies Setting error (1) Reset the alarm.
TECTED the axis in which the (2)Set a large value for the BASICT, and then check again.
alarm occurred
4674 SETE ERROR 1 An attempt was made Setting error (1) Check the following settings.
to set tool for base/ ∙Check the settings for JOBs.
station-axis position-
type variable.
4676 BROKEN FAN 1 SUB-Code 1to 8: Sig- Connection failure (1) Reset the alarm.
FUSE nifies the EAXA/ (2) If the alarm occurs again, check if there is a ground fault or
EAXB board No. in short circuit in the fan power line.
which the alarm oc-
curred
Fuse failure (After cancellation of the short-circuit and ground fault) Replace
the fuse.
No. Code
2 SUB-Code 1to 8: Sig- Connection failure (1) Reset the alarm.
nifies the EAXA/ (2) If the alarm occurs again, check if there is a ground fault or
which the alarm oc-
curred
the fuse.
which the alarm oc-
curred
the fuse.
which the alarm oc-
curred
the fuse.
Alarm list
2
- 1147
2 - 1148
Alarm list
No. Code
which the alarm oc-
curred
the fuse.
which the alarm oc-
curred
the fuse.
which the alarm oc-
curred
the fuse.
No. Code
which the alarm oc-
curred
the fuse.
4677 IMPOSSIBLE LIN- SUB-Code: Control Setting error (1) Check the following settings.
EAR MOTION group and axis ∙If the SUB-Code display is L- and U-axes, perform the teaching
again to make the form (arm folded direction) of L- and U-axes
∙If the SUB-Code display is S- and L-axes, perform the teaching
again to make the form (arm folded direction) of S- and L-axes
∙Change the teaching move instruction to MOVJ instruction.
* Be careful to the peripheral interference since its movement
changes.
4678 SPOT MONITOR SUB-Code: Internal Software operation (1) Reset the alarm.
DATA ERROR control error in soft- error occurred (2) If the alarm occurs again, initialize the database of spot weld
ware history.
Alarm list
2
- 1149
2 - 1150
Alarm list
No. Code
4680 F-SAFE COM- The previous com- Software operation Reset the alarm, and then try again.
MAND ERROR mand was not com- error occurred
(YCP21) pleted.
SUB-Code: Function-
al safety board station
number.
4681 OVER SPEED SUB-Code: Control Setting error (1) Check the following settings.
(MainCPU) group and axis ∙Reduce the speed of the step where the alarm occurred.
∙Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement
changes.
4684 INTERPOLATION SUB-Code: Control Setting error (1) Check the following settings.
INVALID group ∙At the Cartesian jog operation, switch to each-axes jog opera-
tions, and then change the orientation of robot.
∙Change the teaching position and orientation.
4685 F-SAFE WRITE ER- 0 An error occurred in Data error (1) Reset the alarm.
ROR the parameter write (2)Try the write operation again.
operation.
YSF25 board failure (1) Reset the alarm, and then try again.
No. Code
1 An error occurred in Data error (1) Reset the alarm.
the file write opera- (2)Try the write operation again.
tion.
2 Write request has Software operation (1) Reset the alarm.
timed out. error occurred (2)Try the write operation again.
4692 F-SAFE ENCODER Encoder battery fail- (1) Reset the alarm.
BACKUP ERROR ure (2)If AL4311 occurred simultaneously with this alarm, execute the
trouble shooting for the AL4311.

Alarm list
2

- 1151
2 - 1152
Alarm list
No. Code
4693 F-SAFE READ- 0 Readback value of Data error (1) Reset the alarm.
BACK PROC. ER- CPU1 and CPU2 mis- (2)Try the write operation again.
ROR match.
1 Another readback re- Software operation (1) Reset the alarm.
quest was issued to error occurred (2)Try the write operation again.
the readback pro-
cess. (Parameter)
2 Another readback re- Software operation (1) Reset the alarm.
quest was issued to error occurred (2)Try the write operation again.
the readback pro-
cess. (File)
No. Code
3 Incorrect file type. Data error (1) Reset the alarm.
(2)Try the write operation again.
4 Incorrect file number. Data error (1) Reset the alarm.
5 Incorrect write data. Data error (1) Reset the alarm.
6 Process order error. Software operation (1) Reset the alarm.
error occurred (2)Try the write operation again.
Alarm list
2
- 1153
2 - 1154
Alarm list
No. Code
4696 TURN TABLE CALI- 1 There was the same Setting error (1) Check the following settings.
BRATION ERROR point in three points ∙Correct the calibration position so that each point is different.
where the calibration
had been executed.
2 The three points Setting error (1) Check the following settings.
where the calibration ∙Check the calibration position so that the three taught points are
had been executed lie not aligned in a straight line.
in a straight line.
3 The three points Setting error (1) Check the following settings.
where the calibration ∙Check the calibration position so that the three taught points are
had been executed lie not aligned in a straight line.
in a straight line.
4697 OFFLINE ARM 1 Incorrect information Software operation (1) Reset the alarm, and then try again.
BEND POS CON- of standard position error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
VERT ERR data for offline arm NANCE mode, and then contact your YASKAWA representative
bend position data about occurrence status (operating procedure).
conversion
No. Code
2 Incorrect user-coordi- Software operation (1) Reset the alarm, and then try again.
nate number in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
standard position NANCE mode, and then contact your YASKAWA representative
data for offline arm about occurrence status (operating procedure).
bend position data
conversion
3 Incorrect reference- Software operation (1) Reset the alarm, and then try again.
point data offline arm error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
bend position data NANCE mode, and then contact your YASKAWA representative
could not be convert- ∙The variable position may be out of the robot motion range.
ed correctly/con- Check if the variable position is within the robot motion range.
versely for the
standard position
data at the offline arm
bend position data
conversion.
5 Incorrect pulse incre- Setting error (1) Check the following settings.
mental value for of- ∙The variable position may be out of the robot motion range.
fline arm bend Check if the variable position is within the robot motion range.
sion
Alarm list
2
- 1155
2 - 1156
Alarm list
No. Code
ed correctly for the Check if the variable position is within the robot motion range.
pulse incremental val-
ue at the offline arm
bend position data
conversion.
7 Incorrect Cartesian Setting error (1) Check the following settings.
incremental value for ∙The variable position may be out of the robot motion range.
offline arm bend posi- Check if the variable position is within the robot motion range.
tion data conversion
ed correctly for the Check if the variable position is within the robot motion range.
Cartesian incremen-
tal value at the offline
arm bend position
data conversion.
9 The position conver- Setting error (1) Check the following settings.
sion could not be ∙The variable position may be out of the robot motion range.
done in the conver- Check if the variable position is within the robot motion range.
sion data for offline
arm bend position
data conversion.
No. Code
10 Incorrect incremental Setting error (1) Check the following settings.
value of angle for of- ∙The variable position may be out of the robot motion range.
fline arm bend posi- Check if the variable position is within the robot motion range.
tion data conversion
ed correctly for the in- Check if the variable position is within the robot motion range.
cremental value of
angle at the offline
arm bend position
data conversion.
12 The gravity moment Setting error (1) Check the following settings.
for offline arm bend ∙The variable position may be out of the robot motion range.
position data conver- Check if the variable position is within the robot motion range.
sion could not be cal-
culated.
Alarm list
2
- 1157
2 - 1158
Alarm list
No. Code
ed correctly for the re- Check if the variable position is within the robot motion range.
vised conversion data
at the offline arm
bend position data
conversion.
4698 SHIFT VALUE 1 Reference position Software operation (1) Reset the alarm, and then try again.
MAKING ERROR and target position error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
occupation control- NANCE mode, and then contact your YASKAWA representative
group error about occurrence status (operating procedure).
2 Reference position Software operation (1) Reset the alarm, and then try again.
and target position error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
enabling control- NANCE mode, and then contact your YASKAWA representative
group error about occurrence status (operating procedure).
3 The position data type Software operation (1) Reset the alarm, and then try again.
is not applicable. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 Coordinated control- Software operation (1) Reset the alarm, and then try again.
group error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 User coordinates Software operation (1) Reset the alarm, and then try again.
number on the speci- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fied tag side error NANCE mode, and then contact your YASKAWA representative
No. Code
4699 SYSTEM ERROR 1 SUB-Code Software operation (1) Turn the power OFF then back ON.
(RSC1) Internal control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in software NANCE mode, and then contact your YASKAWA representative
4700 SYSTEM ERROR 2 SUB-Code Software operation (1) Turn the power OFF then back ON.
(RSC1) Internal control error error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in software NANCE mode, and then contact your YASKAWA representative
4701 MEMORY ALLOCA- Software operation (1) Turn the power OFF then back ON.
TION ERROR error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4703 F-SAFE OPERA- Data error (1)Change the teach mode.
TION MODE ER- (2)Reset the alarm, and then try again.
ROR
(3) If the alarm occurs again, set to home position.
CMOS.BIN before replace the unit to be safe.
4707 TIMING CONTROL 1 Control data error oc- Software operation (1) Reset the alarm, and then try again.
ERROR curred at prereading. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
(Function the timing NANCE mode, and then contact your YASKAWA representative
control) about occurrence status (operating procedure).
2 Control data error oc- Software operation (1) Reset the alarm, and then try again.
curred. (Function the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
timing control) NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 1159
2 - 1160
Alarm list
No. Code
3 Index number of the Software operation (1) Reset the alarm, and then try again.
target does not exist. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 Bank number of the Software operation (1) Reset the alarm, and then try again.
target does not exist. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5 Control data size Software operation (1) Reset the alarm, and then try again.
over. (Function the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
6 Control index over- Software operation (1) Reset the alarm, and then try again.
flow. (Function the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
7 The control-group of Software operation (1) Reset the alarm, and then try again.
surveillance does not error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
exist. (Function the NANCE mode, and then contact your YASKAWA representative
timing control) about occurrence status (operating procedure).
8 Instruction index Software operation (1) Reset the alarm, and then try again.
overflow. (Function error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the timing control) NANCE mode, and then contact your YASKAWA representative
when calculate a error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
feedback position. NANCE mode, and then contact your YASKAWA representative
(Function the timing about occurrence status (operating procedure).
control)
No. Code
10 The control-group of Software operation (1) Reset the alarm, and then try again.
the target which su- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
pervises a position NANCE mode, and then contact your YASKAWA representative
does not exist. (Func- about occurrence status (operating procedure).
tion the timing control)
11 Waiting time exceed- Software operation (1) Reset the alarm, and then try again.
ed the limit. (Function error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the timing control) NANCE mode, and then contact your YASKAWA representative
12 Watching information Software operation (1) Reset the alarm, and then try again.
settings incomplete error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
13 Delay control impos- Setting error (1) Check the following settings.
sible (Function the Please change the settings so as not to delay control.
timing control)
14 Execution control re- Software operation (1) Reset the alarm, and then try again.
quest settings incom- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
plete (Function the NANCE mode, and then contact your YASKAWA representative
timing control) about occurrence status (operating procedure).
15 Instruction that can Setting error (1)Check the following settings.
not coexist with FPL/ ·FPL/DOUT/+PULSE and NWAIT can not be used at the same
+DOUT/+PULSE was time for SYMOVL instruction. Correct the JOB.
used
(2) If the alarm occurs again, save the CMOS.BIN in maintenance
16 Monitor error oc- Software operation (1) Reset the alarm, and then try again.
curred.(Function the error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
- 1161
2 - 1162
Alarm list
No. Code
17 Executed step desig- Setting error (1) Check the following settings.
nation error ·Please review a JOB so that prereading processing of timing
control is completed before an operation start of the control object
step.
4708 MOTOR GUN SUB-Code: Gun Setting error Please complete the setting of MOTOR GUN AUTO TUNING
AUTO TUNING IN- number FILE as the following operations.
COMPLETE 1. choose [SPOT WELDING] ->[MOTOR GUN AUTO TUNING].
2. change the mode to PLAYBACK, then push [EXECUTE].
3. select [REGIST], after the setting of MOTOR GUN AUTO
TUNING FILE completes.
4709 WELD COMPLETE SUB-Code: Welder Setting error (1) Reset the alarm, and then try again.
SIGNAL OFF number NOTE) When trying the JOB again, the robot returns to the previ-
ous welding point where the spot welding wasn't completed nor-
mally and welds again there.
(2) If the alarm occurs again, check the following setting of the tim-
er.
∙Decrease the offset time of opening the gun.
4710 WELDER ERROR Welding power failure It will be automatically reset after 10 seconds. Then, start again.
Welding power failure Turn the primary power of welding power OFF then back ON
No. Code
4711 24V FUSE BLOWN Parts failure Replace the fuse on the YEW board.
(EW-BOARD)
Board failure Replace the YEW board of the corresponding station.
4712 24V DETECT CIR Board failure Replace the YEW board of the corresponding station.
ERR (EW-BOARD)"
4713 EXT 24V POWER Connection failure Check if the 24V line that is input for YEW board is correctly wired.
ERR (EW-BOARD)
Unit failure Replace the unit that supplies with the external 24V power.
4714 18V LINE BROKEN YEW01 board failure Replace the YEW board of the corresponding station.
(EW-BOARD)
4715 CIP MESSAGE 1 Failed in the genera- Software operation (1) Reset the alarm, and then try again.
SERVER FUNC ER- tion of the CIP server error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ROR task. NANCE mode, and then contact your YASKAWA representative
2 Failed in the ID take Software operation (1) Reset the alarm, and then try again.
of the CIP server task. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1163
2 - 1164
Alarm list
No. Code
3 Failed in the genera- Software operation (1) Reset the alarm, and then try again.
tion of the class entry error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
table. NANCE mode, and then contact your YASKAWA representative
4 Library initialize error. Software operation (1) Reset the alarm, and then try again.
tion of the access pro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
cess. NANCE mode, and then contact your YASKAWA representative
10 Detect undefined er- Software operation (1) Reset the alarm, and then try again.
ror. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
20 Detect sever function Software operation (1) Reset the alarm, and then try again.
started processing. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
30 Detect request error. Software operation (1) Reset the alarm, and then try again.
31 Detect memory error. Software operation (1) Reset the alarm, and then try again.
32 Detect mail send er- Software operation (1) Reset the alarm, and then try again.
No. Code
33 Detect CIP answer er- Software operation (1) Reset the alarm, and then try again.
40 Detect CIP server Software operation (1) Reset the alarm, and then try again.
task mail receive er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror. NANCE mode, and then contact your YASKAWA representative
task request data er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror. NANCE mode, and then contact your YASKAWA representative
task send error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4716 BINARY ETHER- 1 IP address duplicat- IP address setting er- (1) Reset the alarm, and then try again.
NET SERVER ed. ror (2) The IP address is duplicated with the robot controller. Confirm
FUNC ERR the IP address of the communication target.
Detect message li- Software operation (1) Reset the alarm, and then try again.
brary initialize error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion of the RC connect error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
management task. NANCE mode, and then contact your YASKAWA representative
Alarm list
2
- 1165
2 - 1166
Alarm list
No. Code
tion of the RC server error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
task. NANCE mode, and then contact your YASKAWA representative
tion of the file server error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1040 Failed in the request Software operation (1) Reset the alarm, and then try again.
take of the RC con- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
nect management NANCE mode, and then contact your YASKAWA representative
task. about occurrence status (operating procedure).
1041 Failed in the endian Software operation (1) Reset the alarm, and then try again.
conversion. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1042 Received data area Software operation (1) Reset the alarm, and then try again.
overflow. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1059 In a RC connect man- Software operation (1) Reset the alarm, and then try again.
agement task, unde- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
fined error detected. NANCE mode, and then contact your YASKAWA representative
No. Code
1060 Failed in the ID take Software operation (1) Reset the alarm, and then try again.
of the RC server task. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1061 Failed in the mail take Software operation (1) Reset the alarm, and then try again.
of the RC server task. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
1062 In a RC server task, Software operation (1) Reset the alarm, and then try again.
request mail data er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ror detected. NANCE mode, and then contact your YASKAWA representative
1063 Answer data area Software operation (1) Reset the alarm, and then try again.
overflow. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
receive data area error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
overflow. NANCE mode, and then contact your YASKAWA representative
undefined error de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tected. NANCE mode, and then contact your YASKAWA representative
1080 In a file server task, Software operation (1) Reset the alarm, and then try again.
mail receive error de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
request mail data er- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2
ror detected. NANCE mode, and then contact your YASKAWA representative
- 1167

2 - 1168
Alarm list
No. Code
1082 IP address duplicat- IP address setting er- (1) Reset the alarm, and then try again.
ed. ror (2) The IP address is duplicated with the robot controller. Confirm
the IP address of the communication target.
In a file server task, Software operation (1) Reset the alarm, and then try again.
request error oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
curred. NANCE mode, and then contact your YASKAWA representative
receive data area error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2045 In a RC connect man- Software operation (1) Reset the alarm, and then try again.
agement task, send error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
error detected. NANCE mode, and then contact your YASKAWA representative
2065 Detect RC server task Software operation (1) Reset the alarm, and then try again.
send error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
2085 Detect file server task Software operation (1) Reset the alarm, and then try again.
send error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
answer data error de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
answer data area error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2098 Failed in the status er- Software operation (1) Reset the alarm, and then try again.
ror occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
undefined error de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1169

2 - 1170
Alarm list
No. Code
3090 In a file sever task, file Software operation (1) Reset the alarm, and then try again.
close error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4718 BINARY ETHER- 1 Detect message li- Software operation (1) Reset the alarm, and then try again.
NET CLIENT FUNC brary initialize error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ERR NANCE mode, and then contact your YASKAWA representative
tion of the file function error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
tion of the RC function error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4 Detect I/F data error. Software operation (1) Reset the alarm, and then try again.
10 Detect undefined er- Software operation (1) Reset the alarm, and then try again.
110 In a file task, unde- Software operation (1) Reset the alarm, and then try again.
fined error detected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
510 In a RC task, unde- Software operation (1) Reset the alarm, and then try again.
fined error detected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
511 In a RC task, request Software operation (1) Reset the alarm, and then try again.
command error de- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
512 In RC task, there is Software operation (1) Reset the alarm, and then try again.
not the class entry of error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the request com- NANCE mode, and then contact your YASKAWA representative
mand. about occurrence status (operating procedure).
513 In RC task, there is Software operation (1) Reset the alarm, and then try again.
not the service entry error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
of the request com- NANCE mode, and then contact your YASKAWA representative
mand. about occurrence status (operating procedure).
1130 In a high speed Ether- Software operation (1) Reset the alarm, and then try again.
net task, request mail error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
error detected. NANCE mode, and then contact your YASKAWA representative
1131 In a high speed Ether- Software operation (1) Reset the alarm, and then try again.
net task, request error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
command error de- NANCE mode, and then contact your YASKAWA representative
tected. about occurrence status (operating procedure).
1132 In a file task, mail re- Software operation (1) Reset the alarm, and then try again.
ceive error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2140 In a file task, file read- Software operation (1) Reset the alarm, and then try again.
ing error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
2141 In a file task, file writ- Software operation (1) Reset the alarm, and then try again.
ing error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1171

2 - 1172
Alarm list
No. Code
3150 In a file task, request Software operation (1) Reset the alarm, and then try again.
send error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3160 In a file task, reply Software operation (1) Reset the alarm, and then try again.
packet clear error oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3161 Failed in the take of Software operation (1) Reset the alarm, and then try again.
the reply packet data error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
error. NANCE mode, and then contact your YASKAWA representative
3163 In a file task, time out Software operation (1) Reset the alarm, and then try again.
3164 In a file task, receive Software operation (1) Reset the alarm, and then try again.
data area overflow error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
occurred. NANCE mode, and then contact your YASKAWA representative
3165 In a file task, received Software operation (1) Reset the alarm, and then try again.
data unmatched. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
3166 In a file task, receive Software operation (1) Reset the alarm, and then try again.
data size overflow oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
3167 In a file task, received Software operation (1) Reset the alarm, and then try again.
data size set to zero error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
head error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
status error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
5530 In a RC task, interface Software operation (1) Reset the alarm, and then try again.
request error oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
answer error oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
data writing error oc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1173

2 - 1174
Alarm list
No. Code
6540 In a RC task, time out Software operation (1) Reset the alarm, and then try again.
6541 Detect data error. Software operation (1) Reset the alarm, and then try again.
6542 Detect exclusive pro- Software operation (1) Reset the alarm, and then try again.
cess error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
6543 Detect time out. Software operation (1) Reset the alarm, and then try again.
6544 Setting error Setting error (1) Reset the alarm, and confirm whether the following parameter
is set to zero.
∙S2C541
∙S2C542
Detect data error. Software operation (1) Reset the alarm, and then try again.
6545 Detect exclusive pro- Software operation (1) Reset the alarm, and then try again.
cess error. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
7550 In a RC task, request Software operation (1) Reset the alarm, and then try again.
send error occurred. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
7560 In a RC task, reply Software operation (1) Reset the alarm, and then try again.
packet error detected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
take error detected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
7563 Detect time out. Software operation (1) Reset the alarm, and then try again.
7564 In a RC task, receive Software operation (1) Reset the alarm, and then try again.
detected. NANCE mode, and then contact your YASKAWA representative
7565 In a RC task, received Software operation (1) Reset the alarm, and then try again.
data unmatched. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
7566 In a RC task, received Software operation (1) Reset the alarm, and then try again.
data size over. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
Alarm list
2

- 1175

2 - 1176
Alarm list
No. Code
7567 In a RC task, receive Software operation (1) Reset the alarm, and then try again.
data size zero detect- error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
ed. NANCE mode, and then contact your YASKAWA representative
head error detected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
status error detected. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
4719 VIB SUPPRES- Software operation (1) Reset the alarm, and then try again.
SION FLT TIME error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
OUT NANCE mode, and then contact your YASKAWA representative
4721 IMPROPER TOOL SUB-Code: Control Setting error (1) Reset the alarm.
FILE SETTING group number & tool (2) Check the following settings.
data & tool number. ∙Select a sub menu [TOOL] under main menu [ROBOT].
∙Select the coordinate window of the number specified by SUB-
Code (tool number).
∙Set „0“ to the coordinate data specified by SUB-Code (tool data).
4725 SETTM ERROR 1 TM variable number Setting error (1) Check the following settings.
exceeded the limit. ·Check the TM variable number used in the JOB, and then correct
the JOB to fall within the range of TM variable number(0-59).
2 Same TM variable set Setting error (1) Check the following settings.
up as „LOCAL“ was ·Correct the job not to use the same TM variable set up as „LO-
used in different CAL“ in different tasks.
tasks.
No. Code
3 The I/O signal num- Setting error (1) Check the following settings.
ber set up in the ·Check the I/O signal number set in the „SETTM SETUP FILE“,
„SETTM SETUP and then correct it within the effective setting range.
FILE“ cannot be car-
ried out.
4727 GETCVSFT ER- 1 Conveyor condition Setting error (1) Check the following settings.
ROR support file (WORK ·Set „USED STATUS“ of conveyor condition support file (WORK
ID shift) is not set. ID shift) to „1: Use.“
2 Conveyor condition Setting error (1) Check the following settings.
support file (WORK ·Set „USED STATUS“ of conveyor condition support file (WORK
IN/OUT shift) is not IN/OUT shift) to "1: Use."
set.
3 Conveyor condition Setting error (1)Check the following settings.
file is not set. ·Set „USED STATUS“ of conveyor condition file to „1: Use.“
4 Conveyor condition Setting error (1)Check the following settings.
support file (Start ·Set „USED STATUS“ of conveyor condition support file (Start
shift) is not set. shift) to „1: Use.“
5 „WORK ID signal“ of Setting error (1) Check the following settings.·Set „WORK ID signal“ of Con-
the conveyor condi- veyor condition support file (WORK ID shift)
tion support file
(WORK ID shift) is not
set
6 „WORK IN/OUT sig- Setting error (1) Check the following settings.
nal“ of the conveyor ·Set „WORK IN/OUT signal“ of conveyor condition support file
condition support file (WORK IN/OUT shift)
(WORK IN/OUT shift)
is not set
Alarm list
2
- 1177
2 - 1178
Alarm list
No. Code
4728 CONVEYOR SYN- 1 "WORK ID signal" of Setting error (1) Check the following settings.
CHRONIZATION the Conveyor condi- ·Set „WORK ID signal“ of conveyor condition support file (WORK
(SHIFT FUNCTION) tion support file ID shift)
ERROR (WORK ID shift) is not
set
2 "WORK IN/OUT sig- Setting error (1) Check the following settings.
nal" of the conveyor ·Set „WORK IN/OUT signal“ of conveyor condition support file
condition support file (WORK IN/OUT shift)
(WORK IN/OUT shift)
is not set
4729 1 The file number is Setting error (1) Check the following settings.
wrong. ·Set a number of the file in IBGNSTART instruction, so that the file
An attempt was made being recorded does not repeat.
to record again the file
being recorded by IB-
GNSTART instruc-
tion.
2 The number of robot Setting error (1) Check the following settings.
in the JOB is wrong. ·Correct the JOB, so that IBGNSTART instruction is used in the
An attempt was made JOB of one robot.
to record the file in the
JOB including robots
more than two.
No. Code
3 The number of exter- Setting error (1) Check the following settings.
nal axis (STATION or ·Correct the JOB, so that IBGNSTART instruction is used in the
BASE) in the JOB is JOB of one external axis (STATION or BASE).
wrong.
An attempt was made
to record the file in the
JOB including exter-
nal axis (STATION or
BASE) more than
two.
4 IBGNEND instruction Setting error (1) Check the following settings.
is not registered. ·Register IBGNEND instruction in the same JOB after the line
where IBGNSTART instruction was registered.
5 IBGNEND signal is Setting error (1)Check the following settings.
not turned OFF be- ·Turn off IBGNEND signal by executing mpNoticeIBGNRecor-
fore a specified time dRefEnd() in the MotoPlus application before IBGNSTART in-
at the time of IBGN- struction is executed.
START instruction ex-
ecuted.
6 The setting of the Setting error (1)Check the following settings.
playback file is not ·Complete the setting of the playback file by executing mpNoti-
completed at the time ceIBGNPlaybackSetEnd() in the MotoPlus application before IB-
of IBGNSTART GNSTART PLAYBACK=ON instruction is executed.
PLAYBACK=ON in-
struction executed.
7 JOB name in the play- Setting error (1) Check the following settings.
back file is wrong at ·Set the JOB name in which IBGNSTART PLAYBACK=ON in-
the time of IBGN- struction is executed in the playback file.
START PLAY-
BACK=ON instruction
Alarm list
executed.
2
- 1179
2 - 1180
Alarm list
No. Code
8 The setting of interpo- Setting error (1) Check the following settings.
lation clock in the ·Set the interpolation clock acquired in the record file in the play-
playback file is wrong back file.
at the time of IBGN-
START PLAY-
BACK=ON instruction
executed.
9 The start/end step Setting error (1) Check the following settings.
number in the play- ·Set the start/end step number of the JOB in which the record file
back file is wrong at was made in the playback file.
the time of IBGN-
START PLAY-
BACK=ON instruction
executed.
10 IBGNSTART PLAY- Setting error (1) Check the following settings.
BACK=ON instruction ·Execute IBGNSTART PLAYBACK=ON instruction in a forward
was executed in a for- direction, after a robot arrives at the start step of the playback file
ward direction, before in a backward direction, when IBGNSTART PLAYBACK=ON in-
a robot arrives at the struction was executed in a backward direction.
start step of the play-
back
when IBGNSTART error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
PLAYBACK=ON in- NANCE mode, and then contact your YASKAWA representative
struction was execut- about occurrence status (operating procedure).
ed in a backward
direction.
4730 CANNOT EXE- 1 Brake slip detection Software operation (1) Reset the alarm, and then try again.
CUTE BRAKE SLIP was commanded to error occurred (2)If another optional function was commanded to be executed,
DETECT be executed while an- cannot execute brake slip detection.Correct the JOB.
other optional func-
tion was in execution.
No. Code
2 Brake slip detection Software operation (1) Reset the alarm, and then try again.
could not be executed error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
in the specified axis. NANCE mode, and then contact your YASKAWA representative
3 Holding torque data Software operation (1) Reset the alarm, and then try again.
which is calculated by error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the brake slip detec- NANCE mode, and then contact your YASKAWA representative
tion is incorrect. about occurrence status (operating procedure).
4 Detection torque data Software operation (1) Reset the alarm, and then try again.
which is calculated by error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
the brake slip detec- NANCE mode, and then contact your YASKAWA representative
5 The torque value for Software operation (1) Reset the alarm. (2)Check the following settings.
the brake slip detec- error occurred ∙Check torque value
tion device is not set.
6 Holding torque data Software operation (1) Reset the alarm.
which is calculated by error occurred (2)Check the following settings.
the brake slip detec-
tion exceeds the limit. ∙Check torque value

7 The parameter of the Software operation (1) Reset the alarm.
pulse operation ex- error occurred (2)Check the following settings.
ceeds the limit.
∙Pulse operation (S1CxG512 to 519)
Alarm list
2
- 1181
2 - 1182
Alarm list
No. Code
8 The parameter of the Software operation (1) Reset the alarm. (2)Check the following settings.
error detection value error occurred ∙Error detection value(S1CxG520 to 527)
parameter is incor-
4733 WRIST MOTION An attempt was made Setting error (1) Check the following settings.
ERROR to pass the B-axis ∙Check the teaching position of the JOB so that the robot does not
(SINGULAR zero degree position pass the B-axis zero degree position (singular area).
POINT) (singular area).
4734 FIGURE CONVER- The setting of the Setting error (1) Check the following settings.
SION IMPOSSIBLE form data for Flip/No ∙Set „1“ to „S2C658: Type data detail settings“.
Flip is not „B-axis An-
gle“.
4735 SENSOR-LESS 1 Learning control table Software operation (1) Reset the alarm, and then try again.
LEARNING CTRL setting error. error occurred (2)If another optional function was commanded to be executed,
ERROR cannot execute brake slip detection. Correct the JOB.
2 Learning control table Software operation (1) Reset the alarm, and then try again.
ID is incorrect. error occurred (2) If the alarm occurs again, save the CMOS.BIN in MAINTE-
No. Code
3 Multiple task execu- Setting error (1) Check the following settings.
tion error ∙The Learning control cannot execute the same time by multiple
tasks. Correct the JOB.
4736 USER GROUP IO 1 Setting of „START“ in Setting error (1) Check the following settings.
ERROR the user group I/O ·Set a value of 1-4096 at „START“ in the user group I/O setting
setting file is 0. file.
2 Setting of „LENGTH“ Setting error (1) Check the following settings.
in the user group I/O ·Set a value of 1-32 at „LENGTH“ in the user group I/O setting file.
setting file is abnor-
mal.
3 The number of I/O Setting error (1)Check the following settings.
signals in the defini- ·Set „START“ or „LENGTH“ in the user group I/O setting file, so
tion of the user group that the number of I/O signals in the definition of the user group I/
I/O is out of a range. O is within a range.
4 A number of the user Setting error (1)Check the following settings.
group I/O is abnor- ·Set a number of the user group I/O to 1-64 used in the JOB.
mal.
4737 MOTION RANGE SUB-Code: Control Setting error (1) Check the following settings.
LIMIT OVER group ·Perform the teaching again to correct positions for manipulators
so that the step where the alarm occurred is within the motion
range.
(2) Check the following setting in case of the robot with the special
range of motion.
·Check the weight information in the tool file.
Alarm list
2
- 1183

2 - 1184
Alarm list
No. Code
4738 DEST MOTION SUB-Code: Control Setting error (1) Check the following settings.
RANGE LIMIT group ·Check the position setting for the step (move instruction) where
OVER the alarm occurred.
(2) Check the following setting in case of the robot with the special
range of motion.
·Check the weight information in the tool file.
4739 USER ANALOG IO 1 Setting of „START“ in Setting error (1) Check the following settings.
ERROR the user analog I/O ·Set a value of 1-4096 at „START“ in the user analog I/O setting
setting file is 0. file.
2 The number of I/O Setting error (1) Check the following settings.
signals in the defini- ·Set „START“ or „LENGTH“ in the user analog I/O setting file, so
tion of the user analog that the number of I/O signals in the definition of the user analog
I/O is out of a range. I/O is within a range.
3 The number of the Setting error (1) Check the following settings.
user analog I/O set- ·Set the number of the user analog I/O setting file to 1-16 used in
ting file is abnormal. the JOB.
4740 M-SAF OVERRUN Overrun limit switch Fuse failure (1) Turn the power OFF then back ON.
DETECT control group that is (2) If the alarm occurs again, check the connection of the fuse of
displayed in the SUB- YSF22 board and then turn the power ON again.
Code has tripped.
Overrun limit switch (1) Reset the alarm.
released (2) If the alarm occurs again, overrun limit switch is released. Se-
lect „OVERRUN&SHOCK SENSOR“ under sub menu „ROBOT“
to reset the limit switch.
No. Code
(2)If the alarm occurs again, check the connection and inserting
·Check the electrical connection of slack and cable of connection
between the control group in whom the overrun limit switch oper-
ated, YFC22 board (CN219) or YFC22 board (CN219) and
YSF22 board (CN219), and a connector.
·Check the connection and inserting state of the following manip-
ulator cables (Between robot and robot controller) and connec-
tors.
(2)(2) If the alarm occurs again, Replace the YSF21 board.
(2) If the alarm occurs again, replace the YSF22 board. In a sys-
tem where a plurality of YSF22 boards are connected, replace the
board, which is connected to the control group on which the alarm
occurred.
failure (2) If the alarm occurs again, replace the limit switch or an equiv-
alent switch.
YFC22 board failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the YFC22 board.
In a system where a plurality of YFC22 boards are connected, re-
place the board, which is connected to the XIN signal on which the
alarm occurred.
Alarm list
2
- 1185
2 - 1186
Alarm list
No. Code
4741 M-SAF PPESP SIG. Emergency stop sig- Connection failure (1) Reset the alarm.
ERROR nal of programming (2) If the alarm occurs again, check the connection and inserting
pendant was un- state of the following cables and connectors.
matched longer than ∙YSF22-CN218
a certain time. ∙Replace the cable of the programming pendant.
∙Check connectors of the connected outside devices of EMER-
GENCY STOP signal of programming pendant line.
Programming pen- (1) Reset the alarm.
dant failure (2) If the alarm occurs again, replace the programming pendant.
In a system where a plurality of YSF22 boards are connected, re-
place the YSF22 board which is connected to the first EAXA21
board.
Fuse failure {Controller for painting use( Explosion-proof programming pen-
dant spec)}
(2) If the alarm occurs again, replace the fuse(FU10, FU11) in the
painting module.
4742 M-SAF PBESP SIG. Emergency stop sig- Connection failure (1) Reset the alarm.
ERROR nal of the panel box (2) If the alarm occurs again, check the connection and inserting
was unmatched for a state of the following cables and connectors.
certain time. ∙YSF22-CN218
∙Check connectors of the connected outside devices of EMER-
GENCY STOP signal line.
No. Code
Hardware failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the emergency stop switch
of the panel box.
(2) If the alarm occurs again, replace the YSF22 board. In a sys-
tem where a plurality of YSF22 boards are connected, replace the
YSF22 board which is connected to the first EAXA21 board.
alarm occurred.
4743 M-SAF EXESP SIG. External emergency Connection failure (1) Reset the alarm.
ERROR stop signal was un- (2) If the alarm occurs again, check the connection and inserting
matched for a certain state of the following cables and connectors.
time. ∙YFC22
∙YSF22-YFC22 cable
∙Check connectors of the connected outside devices of EXTER-
NAL EMERGENCY STOP signal line.
(2) If the alarm occurs again, replace the external emergency stop
switch.
Alarm list
2
- 1187
2 - 1188
Alarm list
No. Code
board.
alarm occurred.
4744 M-SAF PP ENABLE The enable switch Programing pendant There are two contact points for an enable switch, and only one
SW SIG. ERROR signal of PP was un- illegal operation point may be turned on by how to squeeze it or when putting it on
matched for a certain the place where it is not a plane such as on the knee etc.
time. Check how to squeeze or put the programming pendant on flat.
Programming pen- (1) Reset the alarm.
dant failure (2) If the alarm occurs again, replace the programming pendant.
∙Replace the cable of the programming pendant.
∙YSF22-CN218
board.
No. Code
Fuse failure {Controller for painting use (Explosion-proof programming pen-
dant spec)}
(2) If the alarm occurs again, replace the fuse(FU14, FU15) in the
painting module.
4745 M-SAF EX ENABLE External Enable sig- Connection failure (1) Reset the alarm.
SW SIG. ERROR nal was unmatched (2) If the alarm occurs again, check the connection and inserting
for a certain time. state of the following cables and connectors.
∙YFC22
∙Check connectors of the connected outside devices of EXTER-
NAL ENABLE SWITCH signal line.
(2) If the alarm occurs again, replace the external enable switch.

alarm occurred.
Alarm list
2

- 1189

2 - 1190
Alarm list
No. Code
4746 M-SAF SAFETY Safety fence signal is Connection failure (1) Reset the alarm.
FENCE SIG. ER- unmatched for a cer- (2) If the alarm occurs again, check the connection and inserting
ROR tain time. state of the following cables and connectors.
∙YFC22
∙Check connectors of the connected outside devices of SAFETY
FENCE signal line.
board.
alarm occurred.
4747 M-SAF OVERRUN The meaning of each Overrun limit switch (1) Reset the alarm.
SIG. ERROR SUB-Code is as fol- released (2) If the alarm occurs again, overrun limit switch is released. Se-
lows: lect "OVERRUN&SHOCK SENSOR" under sub menu "ROBOT"
1:OT1 to reset the limit switch.
2:OT2
3:OT3
4:OT4
(2) If the alarm occurs again, please insert and conduction state
of the cable and connector of the control group to which the over-
run limit switch has tripped.
No. Code
failure (2) If the alarm occurs again, replace the limit switch or an equiv-
alent switch.
place the board, which is connected to the control group on which

alarm occurred.
4748 M-SAF ON_EN- The meaning of each Connection failure (1) Reset the alarm.
ABLE SIG. ERROR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
lows: state of the following cables and connectors.
1:ON_ENABLE1 ∙YFC22
2:ON_ENABLE2 ∙YSF22-YFC22 cable
3:ON_ENABLE3 ∙Check ON_ENABLE signal line.
4:ON_ENABLE4
place the board, which is connected to the ON_ENABLE signal on
Alarm list
2
- 1191
2 - 1192
Alarm list
No. Code
alarm occurred.
4749 M-SAF FULL Full speed test signal Connection failure (1) Reset the alarm.
SPEED SIG. ER- was unmatched for a (2) If the alarm occurs again, check the connection and inserting
ROR certain time. state of the following cables and connectors.
∙YFC22
∙Check connectors of the connected outside devices of FST sig-
nal line.
board.
place the YFC22 board which is connected to the first YSF22
board.
No. Code
4750 M-SAF GENERAL The meaning of each Connection failure (1) Reset the alarm.
INPUT SIG. ERROR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
1:GSIN1 ∙YFC22
2:GSIN2 ∙YSF22-YFC22 cable
∙Check connectors of the connected outside devices of GSIN sig-
nal line.
place the board on which the alarm occurred.
place the board, which is connected to the GSIN signal on which
the alarm occurred.
4751 YSF24 GENERAL The meaning of each Connection failure (1) Reset the alarm.
INPUT SIG. ERROR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
1:XIN1 ∙YFC24
2:XIN2 ∙YSF22-YFC24 cable
3:XIN3 ∙Check connectors of the connected outside devices of XIN signal
4:XIN4 line.
5:XIN5
6:XIN6
7:XIN7
Alarm list
2
8:XIN8
- 1193
2 - 1194
Alarm list
No. Code
alarm occurred.
alarm occurred.
4752 M-SAF PPESP DI- SUB-Code indicates YSF21 board failure (1) Reset the alarm.
AG. ERROR the process that the (2) If the alarm occurs again, replace the YSF21 board.
software of CPU1 or
CPU2 detected an er-
ror.
board.
No. Code
4753 M-SAF PBESP DI- SUB-Code indicates YSF21 board failure (1) Reset the alarm.
software of CPU1 or
ror.
board.
4754 M-SAF EXESP DI- SUB-Code indicates YSF21 board failure (1) Reset the alarm.
software of CPU1 or
ror.
board.
4755 M-SAF PP ENABLE SUB-Code indicates YSF21 board failure (1) Reset the alarm.
SW DIAG. ERROR the process that the (2) If the alarm occurs again, replace the YSF21 board.
software of CPU1 or
Alarm list
ror.
2
- 1195
2 - 1196
Alarm list
No. Code
board.
4756 M-SAF EX ENABLE SUB-Code indicates YSF21 board failure (1) Reset the alarm.
SW DIAG. ERROR the process that the (2) If the alarm occurs again, replace the YSF21 board.
software of CPU1 or
ror.
board.
4757 M-SAF SAFETY SUB-Code indicates YSF21 board failure (1) Reset the alarm.
GUARD DIAG. ER- the process that the (2) If the alarm occurs again, replace the YSF21 board.
ROR software of CPU1 or
ror.
board.
No. Code
4758 M-SAF OVERRUN An error is detected YSF21 board failure (1) Reset the alarm.
DIAG. ERROR by YSF21 board. (2) If the alarm occurs again, replace the YSF21 board.
The error is occurred
in the signal that is in-
verted representa-
tion.
CPU1 1:OT1
CPU1 2:OT2
CPU1 3:OT3
CPU1 4:OT4
CPU2 1:OT1
CPU2 2:OT2
CPU2 3:OT3
CPU2 4:OT4
place the board, which is connected to the overrun signal on
which the alarm occurred.
Alarm list
2
- 1197
2 - 1198
Alarm list
No. Code
4759 M-SAF ON_EN- An error is detected YSF21 board failure (1) Reset the alarm.
ABLE DIAG. ER- by YSF21 board. (2) If the alarm occurs again, replace the YSF21 board.
ROR The meaning of each
SUB-Code is as fol-
lows:
CPU1 1:ON_EN-
ABLE1
CPU1 2:ON_EN-
ABLE2
CPU1 3:ON_EN-
ABLE3
CPU1 4:ON_EN-
ABLE4
CPU2 1:ON_EN-
ABLE1
CPU2 2:ON_EN-
ABLE2
CPU2 3:ON_EN-
ABLE3
CPU2 4:ON_EN-
ABLE4
place the board, which is connected to the ON_ENABLE signal on
No. Code
4760 M-SAF FULL SUB-Code indicates YSF21 board failure (1) Reset the alarm.
SPEED DIAG. ER- the process that the (2) If the alarm occurs again, replace the YSF21 board.
ROR software of CPU1 or
ror.
board.
INPUT DIAG. ER- SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
ROR lows: state of the following cables and connectors.
CPU1 1:GSIN1 ∙YFC24
CPU1 2:GSIN2 ∙YSF22-YFC24 cable
∙Check connectors of the connected outside devices of GSIN sig-
CPU2 1:GSIN1 nal line.
CPU2 2:GSIN2
Alarm list
2
- 1199
2 - 1200
Alarm list
No. Code
INPUT DIAG. ER- SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:XIN1 ∙YFC24
CPU1 2:XIN2 ∙YSF22-YFC24 cable
CPU1 3:XIN3 ∙Check connectors of the connected outside devices of XIN signal
CPU1 4:XIN4 line.
CPU1 5:XIN5
CPU1 6:XIN6
CPU1 7:XIN7
CPU1 8:XIN8
CPU2 1:XIN1
CPU2 2:XIN2
CPU2 3:XIN3
CPU2 4:XIN4
CPU2 5:XIN5
CPU2 6:XIN6
CPU2 7:XIN7
CPU2 8:XIN8
alarm occurred.
No. Code
4763 M-SAF CONTACT The meaning of each Connection failure (1) Reset the alarm.
FB DIAG. ERR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
(CPU1) lows: state of the following cables and connectors.
1:KMMB1 ∙YSF22-CN217
2:KMMB2 ∙YPU-CN607
3:KMMB3 ∙Cable continuity between YSF22 board and YPU unit.
4:KMMB4
(2) If the alarm occurs again, replace the YPU unit.
4764 M-SAF STO FB DI- The meaning of each Connection failure (1) Reset the alarm.
AG. ERROR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:EDM1 ·EAXA21-CN521/EAXB21-CN522,CN523,CN524
CPU1 2:EDM2 ∙YSF22-CN217
CPU1 3:EDM3 ∙Cable continuity between YSF22 board and EAXA21 board.
CPU1 4:EDM4
CPU2 1:EDM1
CPU2 2:EDM2
CPU2 3:EDM3
CPU2 4:EDM4
Alarm list
2

- 1201

2 - 1202
Alarm list
No. Code
4765 M-SAF BRAKE FB Connection failure (1) Reset the alarm.
DIAG. ERROR (2) If the alarm occurs again, check the connection and inserting
∙YSF22-CN214
·Cable continuity between YSF22 board(CN214) and EAXA21
board(CN511).
·Cable continuity between EAXA21 board(CN513) and YBK21
board(CN405).
YBK21 board failure (1) Reset the alarm.
In a system where a plurality of YBK21 boards are connected, re-
place the board, which is connected to the board on which the
alarm occurred.
No. Code
4766 M-SAF CONTACT Connection failure (1) Reset the alarm.
OFF FB DIAG. ER- (2) If the alarm occurs again, check the connection and inserting
ROR state of the following cables and connectors.
·YSF22-CN217
·YPU-CN607, CN610
·Cable continuity between YSF22 board(CN217) and YPU
unit(CN607).
In a system where a plurality of YPU units are connected, replace
the board, which is connected to the unit on which the alarm oc-
curred.
OUT FB DIAG. ER- SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:GSEDM1 ∙YSF22 CN219
CPU1 2:GSEDM2 ∙YSF22-YFC22
∙Check connectors of the connected outside devices of GSEDM
CPU2 1:GSEDM1 signal line.
CPU2 2:GSEDM2
Alarm list
2

- 1203

2 - 1204
Alarm list
No. Code
the alarm occurred.
No. Code
OUT FB DIAG. ER- SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:XEDM1 ∙YFC24
CPU1 2:XEDM2 ∙Check connectors of the connected outside devices of XEDM
CPU1 3:XEDM3 signal line.
CPU1 4:XEDM4
CPU1 5:XEDM5
CPU1 6:XEDM6
CPU1 7:XEDM7
CPU1 8:XEDM8
CPU2 1:XEDM1
CPU2 2:XEDM2
CPU2 3:XEDM3
CPU2 4:XEDM4
CPU2 5:XEDM5
CPU2 6:XEDM6
CPU2 7:XEDM7
CPU2 8:XEDM8
Alarm list
2

- 1205

2 - 1206
Alarm list
No. Code
4769 M-SAF CONTAC- The meaning of each Connection failure (1) Reset the alarm.
TOR DIAG. ERROR sub code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1: SFRON1 ∙YSF22-CN217
CPU1 2: SFRON2 ∙YPU-CN607
CPU1 3: SFRON3 ∙Cable continuity between YSF22 board and YPU unit.
CPU1 4: SFRON4
CPU2 1: SFRON1
CPU2 2: SFRON2
CPU2 3: SFRON3
CPU2 4: SFRON4
In a system where a plurality of YPU units are connected, replace
the unit, which is connected to the unit on which the alarm oc-
curred.
No. Code
4770 M-SAF STO DIAG. The meaning of each Connection failure (1) Reset the alarm.
ERROR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:STO1 ∙YSF22-CN217
CPU1 2:STO2 ∙Cable continuity between YSF22 board and EAXA21 board.
CPU1 3:STO3
CPU1 4:STO4
CPU2 1:STO1
CPU2 2:STO2
CPU2 3:STO3
CPU2 4:STO4
OUTPUT DIAG. ER- SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:GSOUT1 ∙YFC22
CPU1 2:GSOUT2 ∙Cable continuity between YSF22 board and YFC22 board.
CPU2 1:GSOUT1
CPU2 2:GSOUT2
Alarm list
2
- 1207
2 - 1208
Alarm list
No. Code
the alarm occurred.
OUTPUT DIAG. ER- SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:XOUT1 ∙YFC24
CPU1 2:XOUT2 ∙Cable continuity between YSF22 board and YFC24 board.
CPU1 3:XOUT3
CPU1 4:XOUT4
CPU1 5:XOUT5
CPU1 6:XOUT6
CPU1 7:XOUT7
CPU1 8:XOUT8
CPU2 1:XOUT1
CPU2 2:XOUT2
CPU2 3:XOUT3
CPU2 4:XOUT4
CPU2 5:XOUT5
CPU2 6:XOUT6
CPU2 7:XOUT7
CPU2 8:XOUT8
No. Code
4773 M-SAF CONTACT The meaning of each Connection failure (1) Reset the alarm.
FB DIAG. ERR SUB-Code is as fol- (2) If the alarm occurs again, check the connection and inserting
(CPU2) lows: state of the following cables and connectors.
1:KMMB1
2:KMMB2 ∙YSF22-CN217
3:KMMB3 ∙YPU-CN607
4:KMMB4 ∙Cable continuity between YSF22 board and YPU unit.
Alarm list
2
- 1209
2 - 1210
Alarm list
No. Code
4776 M-SAF YSF LOGIC 0 Start-up, in reading Setting error (1)Please display the screen of the "safety function" - "safe logic
FILE SIGNAL ERR information from the circuit", and check the value of a "signal", "logic", and a "timer."
FlashROM of YSF21 When a value is inaccurate, please set up the right value and per-
board, YSF21 board form "writing."
has detected an un-
defined signal.
YSF21 board failure (1)Please start in "MAINTENANCE mode".
(2)Display the screen of the "file"-"initialization", please run the
"Machine safety FLASH ROM reset".
(3)Turn the power OFF then back ON.
(4)If the alarm occurs again, replace the YSF22 board.
1 In the receiving infor- Setting error (1) Please display the screen of the "safety function" - "safe logic
mation on safe logic circuit", and check the value of a "signal", "logic", and a "timer."
circuit information, When a value is inaccurate, please set up the right value and per-
YSF21 board has de- form "writing."
tected an undefined
signal.
4777 TRANSMISSION 1 Safe logic circuit infor- Setting error (1) Please display the screen of the "safety function" - "safe logic
ERROR(M-SAF mation transmission circuit", and check the value of a "signal", "logic", and a "timer."
FILE) error was detected. When a value is inaccurate, please set up the right value and per-
form "writing."
No. Code
2 Timer delay informa- Setting error (1) Please display the screen of the "safety function" - "safe logic
tion transmission er- circuit", and check the value of a "signal", "logic", and a "timer".
ror was detected. When a value is inaccurate, please set up the right value and per-
form "writing".
3 M-safety signal alloc Setting error (1) Please display the screen of the "safety function" - "safe logic
information transmis- circuit", and check the value of a "signal", "logic", and a "timer."
sion error was detect- When a value is inaccurate, please set up the right value and per-
ed. form "writing."
4 Safety signal board Setting error (1) Please display the screen of the "safety function" - "safe logic
alloc information circuit", and check the value of a "signal", "logic", and a "timer."
transmission error When a value is inaccurate, please set up the right value and per-
was detected. form "writing."
253 M-safety command Setting error (1) Please display the screen of the "safety function" - "safe logic
reception time out circuit", and check the value of a "signal", "logic", and a "timer."
was detected. When a value is inaccurate, please set up the right value and per-
form "writing."
254 Safe logic circuit infor- Setting error (1) Please display the screen of the "safety function" - "safe logic
mation write error was circuit", and check the value of a "signal", "logic", and a "timer."
Alarm list
2
detected. When a value is inaccurate, please set up the right value and per-
- 1211
form "writing."
2 - 1212
Alarm list
No. Code
255 Safe logic circuit infor- Setting error (1) Please display the screen of the "safety function" - "safe logic
mation cancel error circuit", and check the value of a "signal", "logic", and a "timer."
was detected. When a value is inaccurate, please set up the right value and per-
form "writing."
4778 24V VOLTAGE ER- Connection failure (1) Reset the alarm.
ROR(SERVO I/O) (2) If the alarm occurs again, check the connection and inserting
state of the following cables and connectors. Check the insertion,
connection, Short circuit , ground or 24V power line (DIRECTIN
signals) fault of the followings.
∙YFC22-81,82,92,93: +24V2U3
∙YSF22-CN219
∙Cable between YSF22 board and the YFC22 board
4780 F-SAFE AXIS SUB-Code: Signifies Setting error (1) Check the following settings.
RANGE LIMIT INTF the file number, con- ∙Check the axis range limit condition file that is indicated in the
trol group and axis in SUB-Code is set correctly.
which the alarm oc-
curred. ∙Modify the teaching so as not to interfere limit range setting.
No. Code
4781 AXIS RANGE LIMIT SUB-Code: Signifies Setting error (1) Check the following settings.
INTF the file number, con- ∙Check the axis range limit condition file that is indicated in the
which the alarm oc-
curred. ∙Modify the teaching so as not to interfere limit range setting.

4782 F-SAFE AXIS SUB-Code: Signifies Setting error (1) Check the following settings.
SPEED MONITOR the file number, con- ∙Check the axis speed monitor condition file that is indicated in the
ERROR trol group, axis and SUB-Code is set correctly.
error type in which the
alarm occurred. ∙Modify the teaching so as not to over with limit speed setting.

4783 F-SAFE ROBOT SUB-Code: Signifies Setting error (1) Check the following settings.
RANGE LIMIT INTF the file number, con- ∙Check robot range limit condition file that is indicated in the SUB-
trol group and axis in Code is set correctly.
which the alarm oc-
curred. ∙Modify the teaching so as not to interfere limit area setting.

4784 ROBOT RANGE SUB-Code: Signifies Setting error (1) Check the following settings.
LIMIT INTF the file number, con- ∙Check the robot range limit condition file that is indicated in the
Alarm list
2
which the alarm oc-

- 1213
curred. ∙Modify the teaching so as not to interfere limit area setting.

2 - 1214
Alarm list
No. Code
4785 F-SAFE SPEED SUB-Code: Signifies Setting error (1) Check the following settings.
LIMIT ERROR the file number, con- ∙Check the speed limit condition file that is indicated in the SUB-
trol group and error Code is set correctly.
type in which the
alarm occurred.
4786 F-SAFE TEACH SUB-Code: Signifies Setting error (1) Check the following settings.
SAFETY SPEED the control group and ∙Check the speed limit condition file that is indicated in the SUB-
ERROR error type in which the Code is set correctly.
alarm occurred.
4787 F-SAFE ROBOT SUB-Code: Signifies Setting error (1) Check the following settings.
STOP MONITOR the file number and ∙Check the speed limit condition file that is indicated in the SUB-
ERROR control group in which Code is set correctly.
the alarm occurred.
4788 F-SAFE STATION SUB-Code: Signifies Setting error (1) Check the following settings.
STOP MONITOR the file number, con- ∙Check the speed limit condition file that is indicated in the SUB-
ERR trol group and axis in Code is set correctly.
which the alarm oc-
curred.
No. Code
4789 F-SAFE TOOL SUB-Code: Signifies Setting error (1) Check the following settings.
CHANGE MONI- the file number, con- ∙Check the tool change monitor condition file that is indicated in
TOR ERR trol group and error the SUB-Code is set correctly.
type in which the
alarm occurred. ∙Check whether only one tool change monitor condition file en-
able.
Error type means:
∙Please coincide the tool file number chosen as the robot of the
1:All tool change control group displayed in SUB-Code, and a tool change monitor
monitoring condition condition file.
files is invalid.
2:It detects a mis-
match of monitoring
tool number and the
selection tool file
number.
3:Multiple tool change
monitoring condition
files is enabled.
4790 F-SAFE TOOL SUB-Code: Signifies Setting error (1) Check the following settings.
ANGL MONITOR the file number and ∙Check the tool angle monitor condition file that is indicated in the
ERR control group in which SUB-Code is set correctly.
the alarm occurred.
∙Modify the teaching so as not to over limit angle setting.
Alarm list
2

- 1215
2 - 1216
Alarm list
No. Code
4791 F-SAFE AXIS STOP SUB-Code: Signifies Setting error (1) Check the following settings.
MONITOR ERROR the file number, con- ∙Check the axis speed monitor condition file that is indicated in the
which the alarm oc-
curred. ∙Modify the teaching so as not to over with limit speed setting.

4792 TOOL ANGL MONI- SUB-Code: Signifies Setting error (1) Check the following settings.
TOR ERR the file number and ∙Check the tool angle monitor condition file that is indicated in the
control group in which SUB-Code is set correctly.
the alarm occurred.
∙Modify the teaching so as not to over limit angle setting.
4794 F-SAFE MONITOR Setting error (1) Reset the alarm.
EXECUTE TIME (2) If the alarm occurs again, reduce the number of robot range
OVER limit condition files validated at the same time.
4795 F-SAFE CANNOT Setting error (1)Change the teach mode.
OPERATE TEMP (2)Reset the alarm, and then try again.
DSBL
No. Code
4796 F-SAFE DATA CRC SUB-Code: Signifies Data error (1) Reset the alarm, and then try again.
UNMATCH the file kind in which (2)Check whether the data which it is going to load is surely saved
the alarm occurred. as data of functional safety.
YIF01 board, and then load the CMOS.BIN.
4797 F-SAFE RANGE Software operation Reset the alarm, and then try again.
CONBINATION error occurred
ERR
Alarm list
2
- 1217
2 - 1218
Alarm list
No. Code
4798 F-SAFE SIGNAL SUB-Code: Data error (1) Check the configuration of condition file abnormality occurs.
SET ERR(SFB) Code [X _ _ _ ] indi- (2) Reset the alarm, and then try again.
cates the abnormal
content.
1000: Input/output
signal number in con-
dition file is abnormal.
input signal that is not
available is set in con-
dition file.
output signal that is
not available is set in
condition file.
6000: File valid condi-
tion data is abnormal.
Code [ _ Y _ _ ] indi-
cates the type of con-
occurs.
function
No. Code
4798 F-SAFE SIGNAL Code [ _ Y _ _ ] indi- Data error (1) Check the configuration of condition file abnormality occurs.
SET ERR(SFB) cates the type of con- (2) Reset the alarm, and then try again.
occurs.
function
200: Axis speed mon-
itor function
300: Speed limit func-
tion
400: Robot range limit
function
500: Tool angle moni-
tor function
600: Tool change
monitor function
Code [ _ _ Z Z] indi-
cates the number of
condition file abnor-
mality occurs.
Alarm list
2
- 1219
2 - 1220
Alarm list
No. Code
4800 WDT ERROR Sub Code: Signifies Connection failure (1) Reset the alarm.
(CONVERTER) the physical No. of (2) If the alarm occurs again, check the connection and insert-
converter in which the ing state of the following cables and connectors.
∙EAXB21-CN531,532,533
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4822 HARD WIRE BASE Sub Code: Signifies Connection failure (1) Reset the alarm.
BLOCK ERROR the control axis num- (2) If the alarm occurs again, check the connection and insert-
ber which detected an ing state of the following cables and connectors.
error ∙EAXA21 board CN521 (Safety function's jumper connector)
∙EAXB21 board CN522/523/524 (Safety function's jumper
connector)
(2) If the alarm occurs again, check the connection of the fuse
of YSF22 board and then turn the power ON again.
(2) If the alarm occurs again, replace the EAXB21 board. Save
No. Code
(2) If the alarm occurs again, replace the YSF22 board. Save
4823 HARD WIRE BASE Sub Code: Signifies Connection failure (1) Reset the alarm.
ENABLE ERROR the control axis num- (2) If the alarm occurs again, check the connection and insert-
error ∙EAXA21 board CN521(Safety function's jumper connector)
nector)
4824 BASE BLOCK ER- Sub Code: Signifies Connection failure (1) Reset the alarm.
ROR the control axis num- (2) If the alarm occurs again, check the connection and insert-
error ∙EAXA21 board CN521(Safety function's jumper connector)
Alarm list
2
nector)
- 1221

2 - 1222
Alarm list
No. Code
4825 BASE ENABLE ER- Sub Code: Signifies Connection failure (1) Reset the alarm.
ROR the control axis num- (2) If the alarm occurs again, check the connection and insert-
error ·EAXA21 board CN521(Safety function's jumper connector)
·EAXA21-CN501 to CN506
·EAXB21 board CN522/523/524(Safety function's jumper con-
nector)
·YSF22 board CN217
·Amplifier-CN581
·Converter-CN552A
No. Code
4826 CONTACTOR ER- Sub Code: Signifies YPU unit failure (1) Reset the alarm.
ROR (STO) the control axis num- (2)Check if the contactors (1KM and 2KM) are open, and not
ber which detected an damaged by melting or sticking.
error (4)If the alarm occurs again, replace the YPU unit. Save the
CMOS.BIN before replacing the unit to be safe.
(2) If the alarm occurs again, check the connection of the fuse
of YSF22 board and then turn the power ON again.
(2) If the alarm occurs again, check the connection and insert-
ing state of the following cables and connectors.
∙YPU unit CN607
Alarm list
2
- 1223

2 - 1224
Alarm list
No. Code
4827 DRESSER SERVO SUB-Code: Signifies The SERVO power is Turn ON the SERVO power for the servo dresser axis to be op-
power OFF the control axis num- not supplied. erated.
ber which detected an
error
Other If the alarm occurs again, save the CMOS.BIN in maintenance
4828 TIP DRESS TIME SUB-Code: Signifies Metal pieces getting Check if metal pieces getting into dresser blades prevent the
OVER the control axis num- into dresser blades dresser from rotating.
ber which detected an
error
Setting error Check whether the “PRESS CONDITION” setting in TIP
DRESS CONDITION file is correct.
4842 SYSTEM ERROR Software operation (1) Reset the alarm and execute again.
(MotoLogix) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
nance mode, and then contact your YASKAWA representative
4846 MotoLogix OPERA- 1000000 Failed in Move com- Setting error Input correct data.
TION ERROR mand. Undefined
Move command has
been set.
1000001 Failed in Move com- Setting error Input correct data.
mand. Incorrect num-
ber of control group
has been set.
1000100 Failed in MoveLinear- Setting error Input correct data.
Absolute command.
(Control group1)
Undefined target po-
sition type has been
set.
No. Code
Absolute command.
(Control group1)
Undefined coordi-
nate system has been
set.
Absolute command.
(Control group1)
The speed is out of
range.
Absolute command.
(Control group1)
Undefined speed unit
has been set.
Absolute command.
(Control group1)
Undefined rotational
speed has been set.
Absolute command.
(Control group1)
The blend factor is out
of range.
Alarm list
2
- 1225
2 - 1226
Alarm list
No. Code
Absolute command.
(Control group1)
Undefined blend type
has been set.
Absolute command.
(Control group1)
Incorrect number of
user coordinate has
been set.
Absolute command.
(Control group1)
Incorrect number of
position variable has
been set.
Absolute command.
(Control group1)
Incorrect value of
frame shift has been
set.
Absolute command.
(Control group1)
No. Code
Absolute command.
(Control group1)
Incorrect parameter
of +DOUT has been
set.
Absolute command.
(Control group1)
The acceleration is
out of range.
Absolute command.
(Control group1)
The deceleration is
out of range.
Relative command.
(Control group1)Un-
defined target posi-
tion type has been
set.
Relative command.
(Control group1)
Undefined coordi-
set.
Alarm list
2
- 1227
2 - 1228
Alarm list
No. Code
Relative command.
(Control group1)
The speed is out of
range.
Relative command.
(Control group1)
has been set.
Relative command.
(Control group1)
speed has been set.
Relative command.
(Control group1)
of range.
Relative command.
(Control group1)
has been set.
No. Code
Relative command.
(Control group1)
Incorrect number of
user coordinate has
been set.
Relative command.
(Control group1)
Incorrect number of
been set.
Relative command.
(Control group1)
Incorrect value of
set.
Relative command.
(Control group1)
Relative command.
(Control group1)
Incorrect parameter
of +DOUT has been
set.
Alarm list
2
- 1229
2 - 1230
Alarm list
No. Code
Relative command.
(Control group1)
The acceleration is
out of range.
Relative command.
(Control group1)
The deceleration is
out of range.
1000300 Failed in MoveAxis- Setting error Input correct data.
Absolute command.
(Control group1)
set.
Absolute command.
(Control group1)
Undefined coordi-
set.
Absolute command.
(Control group1)
The speed is out of
range.
No. Code
Absolute command.
(Control group1)
of range.
Absolute command.
(Control group1)
has been set.
Absolute command.
(Control group1)
Incorrect number of
user coordinate has
been set.
Absolute command.
(Control group1)
Incorrect number of
been set.
Absolute command.
(Control group1)
Incorrect value of
set.
Alarm list
2
- 1231
2 - 1232
Alarm list
No. Code
Absolute command.
(Control group1)
Absolute command.
(Control group1)
Incorrect parameter
of +DOUT has been
set.
Absolute command.
(Control group1)
The acceleration is
out of range.
Absolute command.
(Control group1)
The deceleration is
out of range.
Relative command.
(Control group1)
set.
No. Code
Relative command.
(Control group1)
Undefined coordi-
set.
Relative command.
(Control group1)
The speed is out of
range.
Relative command.
(Control group1)
of range.
Relative command.
(Control group1)
has been set.
Relative command.
(Control group1)
Incorrect number of
user coordinate has
been set.
Alarm list
2
- 1233
2 - 1234
Alarm list
No. Code
Relative command.
(Control group1)
Incorrect number of
been set.
Relative command.
(Control group1)
Incorrect value of
set.
Relative command.
(Control group1)
Relative command.
(Control group1)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group1)
The acceleration is
out of range.
No. Code
Relative command.
(Control group1)
The deceleration is
out of range.
1000500 Failed in JOG com- Setting error Input correct data.
mand.
Incorrect command
index has been set.
1000501 Failed in JOG com- Setting error Input correct data.
mand.
Undefined JOG com-
mand has been set.
1000600 Failed in JOGAxes Setting error Input correct data.
command.
(Control group1)
The speed is out of
range.
command.
(Control group1)
command.
Incorrect number of
control group has
been set.
Alarm list
2
- 1235
2 - 1236
Alarm list
No. Code
1000700 Failed in JOGTcp Setting error Input correct data.
command.
(Control group1)
The speed is out of
range.
command.
(Control group1)
Incorrect number of
user coordinate has
been set.
command.
(Control group1)
command.
Incorrect number of
control group has
been set.
1000800 Failed in JOGAxes- Setting error Input correct data.
ToPoint command.
(Control group1)
The speed is out of
range.
ToPoint command.
(Control group1)
No. Code
ToPoint command.
Incorrect number of
control group has
been set.
1000900 Failed in JOGTcpTo- Setting error Input correct data.
Point command.
(Control group1)
The speed is out of
range.
Point command.
(Control group1)
1000902 Failed in JogTcpTo- Setting error Input correct data.
Point command.
Incorrect number of
control group has
been set.
Absolute command.
(Control group2)
set.
Absolute command.
(Control group2)
Undefined coordi-
Alarm list
2

- 1237
set.
2 - 1238
Alarm list
No. Code
Absolute command.
(Control group2)
The speed is out of
range.
Absolute command.
(Control group2)
has been set.
Absolute command.
(Control group2)
speed has been set.
Absolute command.
(Control group2)
of range.
Absolute command.
(Control group2)
has been set.
No. Code
Absolute command.
(Control group2)
Incorrect number of
user coordinate has
been set.
Absolute command.
(Control group2)
Incorrect number of
been set.
Absolute command.
(Control group2)
Incorrect value of
set.
Absolute command.
(Control group1)
Absolute command.
(Control group2)
Incorrect parameter
of +DOUT has been
set.
Alarm list
2
- 1239
2 - 1240
Alarm list
No. Code
Absolute command.
(Control group2)
The acceleration is
out of range.
Absolute command.
(Control group2)
The deceleration is
out of range.
Relative command.
(Control group2)Un-
tion type has been
set.
Relative command.
(Control group2)
Undefined coordi-
set.
Relative command.
(Control group2)
The speed is out of
range.
No. Code
Relative command.
(Control group2)
has been set.
Relative command.
(Control group2)
speed has been set.
Relative command.
(Control group2)
of range.
Relative command.
(Control group2)
has been set.
Relative command.
(Control group2)
Incorrect number of
user coordinate has
been set.
Alarm list
2
- 1241
2 - 1242
Alarm list
No. Code
Relative command.
(Control group1)
Incorrect number of
been set.
Relative command.
(Control group1)
Incorrect value of
set.
Relative command.
(Control group1)
Relative command.
(Control group1)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group1)
The acceleration is
out of range.
No. Code
Relative command.
(Control group2)
The deceleration is
out of range.
Absolute command.
(Control group2)
set.
Absolute command.
(Control group2)
Undefined coordi-
set.
Absolute command.
(Control group2)
The speed is out of
range.
Absolute command.
(Control group2)
of range.
Alarm list
2
- 1243
2 - 1244
Alarm list
No. Code
Absolute command.
(Control group2)
has been set.
Absolute command.
(Control group2)
Incorrect number of
user coordinate has
been set.
Absolute command.
(Control group2)
Incorrect number of
been set.
Absolute command.
(Control group2)
Incorrect value of
set.
Absolute command.
(Control group2)
No. Code
Absolute command.
(Control group2)
Incorrect parameter
of +DOUT has been
set.
Absolute command.
(Control group2)
The acceleration is
out of range.
Absolute command.
(Control group2)
The deceleration is
out of range.
Relative command.
(Control group2)
set.
Relative command.
(Control group2)
Undefined coordi-
set.
Alarm list
2
- 1245
2 - 1246
Alarm list
No. Code
Relative command.
(Control group2)
The speed is out of
range.
Relative command.
(Control group2)
of range.
Relative command.
(Control group2)
has been set.
Relative command.
(Control group2)
Incorrect number of
user coordinate has
been set.
Relative command.
(Control group2)
Incorrect number of
been set.
No. Code
Relative command.
(Control group2)
Incorrect value of
set.
Relative command.
(Control group2)
Relative command.
(Control group2)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group2)
The acceleration is
out of range.
Relative command.
(Control group2)
The deceleration is
out of range.
Alarm list
2
- 1247
2 - 1248
Alarm list
No. Code
command.
(Control group2)
The speed is out of
range.
command.
(Control group2)
command.
(Control group2)
The speed is out of
range.
command.
(Control group2)
Incorrect number of
user coordinate has
been set.
command.
(Control group2)
ToPoint command.
(Control group2)
The speed is out of
range.
No. Code
ToPoint command.
(Control group2)
Point command.
(Control group2)
The speed is out of
range.
Point command.
(Control group2)
Absolute command.
(Control group3)
set.
Absolute command.
(Control group3)
Undefined coordi-
set.
Absolute command.
(Control group3)
The speed is out of
Alarm list
range.
2
- 1249
2 - 1250
Alarm list
No. Code
Absolute command.
(Control group3)
has been set.
Absolute command.
(Control group3)
speed has been set.
Absolute command.
(Control group3)
of range.
Absolute command.
(Control group3)
has been set.
Absolute command.
(Control group3)
Incorrect number of
user coordinate has
been set.
No. Code
Absolute command.
(Control group3)
Incorrect number of
been set.
Absolute command.
(Control group3)
Incorrect value of
set.
Absolute command.
(Control group3)
Absolute command.
(Control group3)
Incorrect parameter
of +DOUT has been
set.
Absolute command.
(Control group3)
The acceleration is
out of range.
Alarm list
2
- 1251
2 - 1252
Alarm list
No. Code
Absolute command.
(Control group3)
The deceleration is
out of range.
Relative command.
(Control group3)Un-
tion type has been
set.
Relative command.
(Control group3)
Undefined coordi-
set.
Relative command.
(Control group3)
The speed is out of
range.
Relative command.
(Control group3)
has been set.
No. Code
Relative command.
(Control group3)
speed has been set.
Relative command.
(Control group3)
of range.
Relative command.
(Control group3)
has been set.
Relative command.
(Control group3)
Incorrect number of
user coordinate has
been set.
Relative command.
(Control group3)
Incorrect number of
been set.
Alarm list
2
- 1253
2 - 1254
Alarm list
No. Code
Relative command.
(Control group3)
Incorrect value of
set.
Relative command.
(Control group3)
Relative command.
(Control group3)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group3)
The acceleration is
out of range.
Relative command.
(Control group3)
The deceleration is
out of range.
No. Code
Absolute command.
(Control group3)
set.
Absolute command.
(Control group3)
Undefined coordi-
set.
Absolute command.
(Control group3)
The speed is out of
range.
Absolute command.
(Control group3)
of range.
Absolute command.
(Control group3)
has been set.
Alarm list
2
- 1255
2 - 1256
Alarm list
No. Code
Absolute command.
(Control group3)
Incorrect number of
user coordinate has
been set.
Absolute command.
(Control group3)
Incorrect number of
been set.
Absolute command.
(Control group3)
Incorrect value of
set.
Absolute command.
(Control group3)
Absolute command.
(Control group3)
Incorrect parameter
of +DOUT has been
set.
No. Code
Absolute command.
(Control group3)
The acceleration is
out of range.
Absolute command.
(Control group3)
The deceleration is
out of range.
Relative command.
(Control group3)
set.
Relative command.
(Control group3)
Undefined coordi-
set.
Relative command.
(Control group3)
The speed is out of
range.
Alarm list
2
- 1257
2 - 1258
Alarm list
No. Code
Relative command.
(Control group3)
of range.
Relative command.
(Control group3)
has been set.
Relative command.
(Control group3)
Incorrect number of
user coordinate has
been set.
Relative command.
(Control group3)
Incorrect number of
been set.
Relative command.
(Control group3)
Incorrect value of
set.
No. Code
Relative command.
(Control group3)
Relative command.
(Control group3)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group3)
The acceleration is
out of range.
Relative command.
(Control group3)
The deceleration is
out of range.
command.
(Control group3)
The speed is out of
range.
command.
(Control group3)
Alarm list
2
- 1259
2 - 1260
Alarm list
No. Code
command.
(Control group3)
The speed is out of
range.
command.
(Control group3)
Incorrect number of
user coordinate has
been set.
command.
(Control group3)
ToPoint command.
(Control group3)
The speed is out of
range.
ToPoint command.
(Control group3)
Point command.
(Control group3)
The speed is out of
range.
No. Code
Point command.
(Control group3)
Absolute command.
(Control group4)
set.
Absolute command.
(Control group4)
Undefined coordi-
set.
Absolute command.
(Control group4)
The speed is out of
range.
Absolute command.
(Control group4)
has been set.
Alarm list
2
- 1261
2 - 1262
Alarm list
No. Code
Absolute command.
(Control group4)
speed has been set.
Absolute command.
(Control group4)
of range.
Absolute command.
(Control group4)
has been set.
Absolute command.
(Control group4)
Incorrect number of
user coordinate has
been set.
Absolute command.
(Control group4)
Incorrect number of
been set.
No. Code
Absolute command.
(Control group4)
Incorrect value of
set.
Absolute command.
(Control group4)
Absolute command.
(Control group4)
Incorrect parameter
of +DOUT has been
set.
Absolute command.
(Control group4)
The acceleration is
out of range.
Absolute command.
(Control group4)
The deceleration is
out of range.
Alarm list
2
- 1263
2 - 1264
Alarm list
No. Code
Relative command.
(Control group4)Un-
tion type has been
set.
Relative command.
(Control group4)
Undefined coordi-
set.
Relative command.
(Control group4)
The speed is out of
range.
Relative command.
(Control group4)
has been set.
Relative command.
(Control group4)
speed has been set.
No. Code
Relative command.
(Control group4)
of range.
Relative command.
(Control group4)
has been set.
Relative command.
(Control group4)
Incorrect number of
user coordinate has
been set.
Relative command.
(Control group4)
Incorrect number of
been set.
Relative command.
(Control group4)
Incorrect value of
set.
Alarm list
2
- 1265
2 - 1266
Alarm list
No. Code
Relative command.
(Control group4)
Relative command.
(Control group4)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group4)
The acceleration is
out of range.
Relative command.
(Control group4)
The deceleration is
out of range.
Absolute command.
(Control group4)
set.
No. Code
Absolute command.
(Control group4)
Undefined coordi-
set.
Absolute command.
(Control group4)
The speed is out of
range.
Absolute command.
(Control group4)
of range.
Absolute command.
(Control group4)
has been set.
Absolute command.
(Control group4)
Incorrect number of
user coordinate has
been set.
Alarm list
2
- 1267
2 - 1268
Alarm list
No. Code
Absolute command.
(Control group4)
Incorrect number of
been set.
Absolute command.
(Control group4)
Incorrect value of
set.
Absolute command.
(Control group4)
Absolute command.
(Control group4)
Incorrect parameter
of +DOUT has been
set.
Absolute command.
(Control group4)
The acceleration is
out of range.
No. Code
Absolute command.
(Control group4)
The deceleration is
out of range.
Relative command.
(Control group4)
set.
Relative command.
(Control group4)
Undefined coordi-
set.
Relative command.
(Control group4)
The speed is out of
range.
Relative command.
(Control group4)
of range.
Alarm list
2
- 1269
2 - 1270
Alarm list
No. Code
Relative command.
(Control group4)
has been set.
Relative command.
(Control group4)
Incorrect number of
user coordinate has
been set.
Relative command.
(Control group4)
Incorrect number of
been set.
Relative command.
(Control group4)
Incorrect value of
set.
Relative command.
(Control group4)
No. Code
Relative command.
(Control group4)
Incorrect parameter
of +DOUT has been
set.
Relative command.
(Control group4)
The acceleration is
out of range.
Relative command.
(Control group4)
The deceleration is
out of range.
command.
(Control group4)
The speed is out of
range.
command.
(Control group4)
command.
(Control group4)
Alarm list
2
The speed is out of

- 1271
range.
2 - 1272
Alarm list
No. Code
command.
(Control group4)
Incorrect number of
user coordinate has
been set.
command.
(Control group3)
ToPoint command.
(Control group4)
The speed is out of
range.
ToPoint command.
(Control group4)
Point command.
(Control group4)
The speed is out of
range.
Point command.
(Control group4)
2000000 Failed in Config com- Setting error Input correct data.
mand. Incorrect com-
mand index has been
set.
No. Code
mand. Undefined
Config command has
been set.
mand.
The size of command
buffer is out of range.
2000100 Failed in GetModu- Setting error Input correct data.
leInfo command.

leInfo command.
The number of step is
out of range.
leInfo command.
The size of command
(IP address)
leInfo command.
The size of command
(MAC address)
leInfo command.
The size of command
Alarm list
2
- 1273
(Module type)
2 - 1274
Alarm list
No. Code
leInfo command.
The size of command
buffer is out of
range.(Version)
2000200 Failed in GetProper- Setting error Input correct data.
ties command.(Con-
trol group1)
ties command.
(Control group1)
out of range.
ties command.
Incorrect number of
control group has
been set.
2000300 Failed in SetTool- Setting error Input correct data.
Properties command.
(Control group1)
Properties command.
(Control group1)
Invalid data of tool
has been set.
No. Code
Properties command.
(Control group1)
Incorrect number of
control group has
been set.
Properties command.
(Control group1)
Incorrect number of
tool has been set.
Properties command.
(Control group1)
Failed to write tool
file.
2000400 Failed in SetUser- Setting error Input correct data.
Frame command.
(Control group1)
Frame command.
(Control group1)
Invalid data of user
coordinate has been
set.
Alarm list
2
- 1275
2 - 1276
Alarm list
No. Code
Frame command.
(Control group1)
Incorrect number of
control group has
been set.
Frame command.
(Control group1)
Incorrect number of
user coordinate has
been set.
Frame command.
(Control group1)
Failed to write user
coordinate file.
Frame command.
(Control group1)
Failed to make user
coordinate.
Frame command.
(Control group1)
Failed to convert user
coordinate.
No. Code
2000500 Failed in SetFrame- Setting error Input correct data.
Shift command.
Incorrect number of
control group has
been set.
Shift command.(Con-
trol group1)
Undefined coordi-
set.
Shift command.
(Control group1)
Failed to set frame
shift.
2000600 Failed in SetCubicIZ- Setting error Input correct data.
ByCenterPoint com-
mand.
(Control group1)
Undefined IZ action
has been set.
ByCenterPoint com-
mand.
(Control group1)
Undefined coordi-
Alarm list
set.
2
- 1277
2 - 1278
Alarm list
No. Code
ByCenterPoint com-
mand.
(Control group1)
Incorrect number of
user coordinate has
been set.
ByCenterPoint com-
mand.
(Control group1)
ByCenterPoint com-
mand.
(Control group1)
Incorrect number of
control group has
been set.
ByCenterPoint com-
mand.
(Control group1)
Incorrect ID number
has been set.
ByCenterPoint com-
mand.
(Control group1)
Failed to write cube
file.
No. Code
ByTwoCorners com-
mand.
(Control group1)
Undefined IZ action
has been set.
ByTwoCorners com-
mand.
(Control group1)
Undefined coordi-
set.
ByTwoCorners com-
mand.
(Control group1)
Incorrect number of
user coordinate has
been set.
ByTwoCorners com-
mand.
(Control group1)
Alarm list
2
- 1279
2 - 1280
Alarm list
No. Code
ByTwoCorners com-
mand.
(Control group1)
Incorrect number of
control group has
been set.
ByTwoCorners com-
mand.
(Control group1)
Incorrect ID number
has been set.
ByTwoCorners com-
mand.
(Control group1)
file.
2000800 Failed in Coordina- Setting error Input correct data.
teTransform com-
mand.
(Control group1)
teTransform com-
mand.
Incorrect number of
control group has
been set.
No. Code
teTransform com-
mand.
(Control group1)
Undefined transform
type has been set.
teTransform com-
mand.
(Control group1)
Failed to convert Axis
coordinates to TCP
coordinates.
teTransform com-
mand.
(Control group1)
coordinates to TCP
coordinates.
teTransform com-
mand.
(Control group1)
Failed to convert TCP
coordinates to Axis
coordinates.
Incorrect number of
Alarm list
tool has been set.
2
- 1281
2 - 1282
Alarm list
No. Code
teTransform com-
mand.
(Control group1)
coordinates to Axis
coordinates.
teTransform com-
mand.
(Control group1)
in World frame to
User frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control
group1)Failed to con-
vert TCP in World
frame to User frame.
Failed to convert In-
put coordinates.
No. Code
teTransform com-
mand.
(Control group1)
in World frame to
User frame.
Failed to convert User
coordinates.
teTransform com-
mand.
(Control group1)
in World frame to
User frame.
Failed to create in-
verse matrix of user
coordinates.
teTransform com-
mand.
(Control group1)
in World frame to
User frame.
Failed in multiplica-
tion of coordinates.
Alarm list
2
- 1283
2 - 1284
Alarm list
No. Code
teTransform com-
mand.
(Control group1)
in World frame to
User frame.
Failed to convert Out-
put coordinates.
teTransform com-
mand.
(Control group1)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control group1)
in User frame to
World frame.
put coordinates.
No. Code
teTransform com-
mand.
(Control group1)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control group1)
in User frame to
World frame.
teTransform com-
mand.
(Control group1)
in User frame to
World frame.
put coordinates.
Alarm list
2
- 1285
2 - 1286
Alarm list
No. Code
2000900 Failed in Convey- Setting error Input correct data.
orSyncStart com-
mand.
(Control group1)
orSyncStart com-
mand.
Incorrect number of
control group has
been set.
orSyncStart com-
mand.
(Control group1)
Incorrect number of
conveyor has been
set.
orSyncStart com-
mand.
(Control group1)
orSyncStop com-
mand.
(Control group1)
orSyncStop com-
mand.
Incorrect number of
control group has
been set.
No. Code
orSyncStop com-
mand.
(Control group1)
2001100 Failed in PositionVari- Setting error Input correct data.
ableGet command.
(Control group1)
ableGet command.
(Control group1)
The size of command
ableGet command.
(Control group1)
Failed to read position
variable file.
ableGet command.
(Control group1)
Failed to convert
Pulse coordinates to
Axis coordinates.
ableGet command.
(Control group1)
Alarm list
coordinates to TCP
2
- 1287
coordinates.
2 - 1288
Alarm list
No. Code
ableGet command.
(Control group1)
coordinates to Axis
coordinates.
ableGet command.
(Control group1)
in User frame to
World frame.
ableGet command.
(Control group1)
Undefined coordi-
set.
ableGet command.
(Control group1)
Incorrect number of
user coordinate has
been set.
ableSet command.
(Control group1)
No. Code
ableSet com-
mand.(Control
group1)
Undefined position
type has been set.
ableSet command.
(Control group1)
Failed to write posi-
tion variable file.
ableSet command.
(Control group1)
coordinates to Pulse
coordinates.
ableSet command.
Incorrect number of
control group has
been set.
2001300 Failed in SetBase- Setting error Input correct data.
Pose command.
(Control group1)
Pose command.
Incorrect number of
control group has
Alarm list
2
been set.
- 1289
2 - 1290
Alarm list
No. Code
Pose command.
(Control group1)
Failed to write file.
Pose command.
You can not use this
command for the ro-
bot of control group1.
2001400 Failed in SetH- Setting error Input correct data.
omeOffsets com-
mand.(Control
group1)
omeOffsets com-
mand.
Incorrect number of
control group has
been set.
omeOffsets com-
mand.
(Control group1)
Failed to get current
position of pulse type.
omeOffsets com-
mand.
(Control group1)
No. Code
omeOffsets com-
mand.
(Control group1)
Undefined offset type
has been set.
2001500 Failed in GetH- Setting error Input correct data.
omeOffsets com-
mand.
(Control group1)
omeOffsets com-
mand.
Incorrect number of
control group has
been set.
omeOffsets com-
mand.
(Control group1)
omeOffsets com-
mand.
(Control group1)
Failed to read file.
Alarm list
2
- 1291
2 - 1292
Alarm list
No. Code
omeOffsets com-
mand.
(Control group1)
has been set.
2001600 Failed in VarsGet Setting error Input correct data.
command.(Control
group1)
command.
(Control group1)
Undefined variable
type has been set.
command.
(Control group1)
Incorrect number of
variable has been set.
command.
(Control group1)
Incorrect number of
getting has been set.
2001700 Failed in VarsSet Setting error Input correct data.
command.
(Control group1)
No. Code
command.
(Control group1)
Undefined variable
type has been set.
command.
(Control group1)
Incorrect number of
command.
(Control group1)
Incorrect number of
setting has been set.
2001800 Failed in WriteAppli- Setting error Input correct data.
cationData com-
mand.
2001801 Failed in WriteAppli- Setting error Input correct data.
cationData com-
mand.
frame file.
2001900 Failed in SetProper- Setting error Input correct data.
ties command.
(Control group1)
Alarm list
2
- 1293
2 - 1294
Alarm list
No. Code
ties command.
(Control group1)
out of range.
ties command.
Incorrect number of
control group has
been set.
ties command.
(Control group1)
The axis index is out
of range.
ties command.
(Control group2)
ties command.
(Control group2)
out of range.
Properties command.
(Control group2)
No. Code
Properties command.
(Control group2)
has been set.
Properties command.
(Control group2)
Incorrect number of
tool has been set.
Properties command.
(Control group2)
file.
Frame command.
(Control group2)
Frame command.
(Control group2)
coordinate has been
set.
Alarm list
2
- 1295
2 - 1296
Alarm list
No. Code
Frame command.
(Control group2)
Incorrect number of
user coordinate has
been set.
Frame command.
(Control group2)
coordinate file.
Frame command.
(Control group2)
Failed to make user
coordinate.
Frame command.
(Control group2)
coordinate.
Shift command.
(Control group2)
Undefined coordi-
set.
No. Code
Shift command.
(Control group2)
Failed to set frame
shift.
ByCenterPoint com-
mand.
(Control group2)
Undefined IZ action
has been set.
ByCenterPoint com-
mand.
(Control group2)
Undefined coordi-
set.
ByCenterPoint com-
mand.
(Control group2)
Incorrect number of
user coordinate has
been set.
ByCenterPoint com-
mand.
Alarm list
2
(Control group2)
- 1297
2 - 1298
Alarm list
No. Code
ByCenterPoint com-
mand.
(Control group2)
Incorrect ID number
has been set.
ByCenterPoint com-
mand.
(Control group2)
file.
ByTwoCorners com-
mand.
(Control group2)
Undefined IZ action
has been set.
ByTwoCorners com-
mand.
(Control group2)
Undefined coordi-
set.
No. Code
ByTwoCorners com-
mand.
(Control group2)
Incorrect number of
user coordinate has
been set.
ByTwoCorners com-
mand.
(Control group2)
ByTwoCorners com-
mand.
(Control group2)
Incorrect ID number
has been set.
ByTwoCorners com-
mand.
(Control group2)
file.
teTransform com-
mand.
(Control group2)
Alarm list
2
- 1299
2 - 1300
Alarm list
No. Code
teTransform com-
mand.
(Control group2)
Undefined transform
type has been set.
teTransform com-
mand.
(Control group2)
coordinates to TCP
coordinates.
teTransform com-
mand.
(Control group2)
coordinates to TCP
coordinates.
teTransform com-
mand.
(Control group2)
coordinates to Axis
coordinates.
Incorrect number of
tool has been set.
No. Code
teTransform com-
mand.
(Control group2)
coordinates to Axis
coordinates.
teTransform com-
mand.
(Control group2)
in World frame to
User frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control group2)
in World frame to
User frame.
put coordinates.
Alarm list
2
- 1301
2 - 1302
Alarm list
No. Code
teTransform com-
mand.
(Control group2)
in World frame to
User frame.
coordinates.
teTransform com-
mand.
(Control group2)
in World frame to
User frame.
coordinates.
teTransform com-
mand.
(Control group2)
in World frame to
User frame.
No. Code
teTransform com-
mand.
(Control group2)
in World frame to
User frame.
put coordinates.
teTransform com-
mand.
(Control group2)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.(Control
group2)
in User frame to
World frame.
put coordinates.
Alarm list
2
- 1303
2 - 1304
Alarm list
No. Code
teTransform com-
mand.
(Control group2)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control group2)
in User frame to
World frame.
teTransform com-
mand.
(Control group2)
in User frame to
World frame.
put coordinates.
No. Code
orSyncStart com-
mand.
(Control group2)
orSyncStart com-
mand.
(Control group2)
Incorrect number of
conveyor has been
set.
orSyncStart com-
mand.
Control group2)
orSyncStop com-
mand.(
Control group2)
orSyncStop com-
mand.
(Control group2)
ableGet command.
(Control group2)
Alarm list
2
- 1305
2 - 1306
Alarm list
No. Code
ableGet command.
(Control group2)
The size of command
ableGet command.
(Control group2)
variable file.
ableGet command.
(Control group2)
Failed to convert
Axis coordinates.
ableGet command.
(Control group2)
coordinates to TCP
coordinates.
ableGet command.
(Control group2)
coordinates to Axis
coordinates.
No. Code
ableGet command.
(Control group2)
in User frame to
World frame.
ableGet command.
(Control group2)
Undefined coordi-
set.
ableGet command.
(Control group2)
Incorrect number of
user coordinate has
been set.
ableSet command.
(Control group2)
ableSet command.
(Control group2)
Undefined position
type has been set.
Alarm list
2
- 1307
2 - 1308
Alarm list
No. Code
ableSet com-
mand.(Control
group2)
tion variable file.
ableSet command.
(Control group2)
coordinates.
Pose command.
(Control group2)
Pose command.
(Control group2)
omeOffsets com-
mand.
(Control group2)
omeOffsets com-
mand.
(Control group2)
No. Code
omeOffsets com-
mand.
(Control group2)
omeOffsets com-
mand.
(Control group2)
has been set.
omeOffsets com-
mand.
(Control group2)
omeOffsets com-
mand.
(Control group2)
omeOffsets com-
mand.
(Control group2)
Alarm list
2
- 1309
2 - 1310
Alarm list
No. Code
omeOffsets com-
mand.
(Control group2)
has been set.
command.
(Control group2)
command.
(Control group2)
Undefined variable
type has been set.
command.
(Control group2)
Incorrect number of
command.
(Control group2)
Incorrect number of
command.
(Control group2)
No. Code
command.
(Control group2)
Undefined variable
type has been set.
command.
(Control group2)
Incorrect number of
command.
(Control group2)
Incorrect number of
ties command.
(Control group2)
ties command.
(Control group2)
out of range.
ties command.
(Control group2)
Alarm list
2
of range.
- 1311
2 - 1312
Alarm list
No. Code
ties command.
(Control group3)
ties command.
(Control group3)
out of range.
Properties command.
(Control group3)
Properties command.
(Control group3)
has been set.
Properties command.
(Control group3)
Incorrect number of
tool has been set.
Properties command.
(Control group3)
file.
Frame command.
(Control group3)
No. Code
Frame command.
(Control group3)
coordinate has been
set.
Frame com-
mand.(Control
group3)
Incorrect number of
user coordinate has
been set.
Frame command.
(Control group3)
coordinate file.
Frame command.
(Control group3)
Failed to make user
coordinate.
Frame command.
(Control group3)
coordinate.
Alarm list
2
- 1313
2 - 1314
Alarm list
No. Code
Shift command.
(Control group3)
Undefined coordi-
set.
Shift command.
(Control group3)
Failed to set frame
shift.
ByCenterPoint com-
mand.
(Control group3)
Undefined IZ action
has been set.
ByCenterPoint com-
mand.
(Control group3)
Undefined coordi-
set.
No. Code
ByCenterPoint com-
mand.
(Control group3)
Incorrect number of
user coordinate has
been set.
ByCenterPoint com-
mand.
(Control group3)
ByCenterPoint com-
mand.
(Control group3)
Incorrect ID number
has been set.
ByCenterPoint com-
mand.
(Control group3)
file.
ByTwoCorners com-
mand.
(Control group3)
Undefined IZ action
Alarm list
2
has been set.

- 1315
2 - 1316
Alarm list
No. Code
ByTwoCorners com-
mand.
(Control group3)
Undefined coordi-
set.
ByTwoCorners com-
mand.
(Control group3)
Incorrect number of
user coordinate has
been set.
ByTwoCorners com-
mand.
(Control group3)
ByTwoCorners com-
mand.
(Control group3)
Incorrect ID number
has been set.
ByTwoCorners com-
mand.
(Control group3)
file.
No. Code
teTransform com-
mand.
(Control group3)
teTransform com-
mand.
(Control group3)
Undefined transform
type has been set.
teTransform com-
mand.
(Control group3)
coordinates to TCP
coordinates.
teTransform com-
mand.
(Control group3)
coordinates to TCP
coordinates.
Alarm list
2
- 1317
2 - 1318
Alarm list
No. Code
teTransform com-
mand.
(Control group3)
coordinates to Axis
coordinates.
Incorrect number of
tool has been set.
teTransform com-
mand.
(Control group3)
coordinates to Axis
coordinates.
teTransform com-
mand.
(Control group3)
in World frame to
User frame.
Incorrect number of
user coordinate has
been set.
No. Code
teTransform com-
mand.
(Control group3)
in World frame to
User frame.
put coordinates.
teTransform com-
mand.
(Control group3)
in World frame to
User frame.
coordinates.
teTransform com-
mand.
(Control group3)
in World frame to
User frame.
coordinates.
Alarm list
2
- 1319
2 - 1320
Alarm list
No. Code
teTransform com-
mand.
(Control group3)
in World frame to
User frame.
teTransform com-
mand.
(Control group3)
in World frame to
User frame.
put coordinates.
teTransform com-
mand.
(Control group3)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
No. Code
teTransform com-
mand.
(Control group3)
in User frame to
World frame.
put coordinates.
teTransform com-
mand.
(Control group3)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control group3)
in User frame to
World frame.
Alarm list
2
- 1321
2 - 1322
Alarm list
No. Code
teTransform com-
mand.
(Control group3)
in User frame to
World frame.
put coordinates.
orSyncStart com-
mand.
(Control group3)
orSyncStart com-
mand.
(Control group3)
Incorrect number of
conveyor has been
set.
orSyncStart com-
mand.
(Control group3)
orSyncStop com-
mand.
(Control group3)
No. Code
orSyncStop com-
mand.
(Control group3)
ableGet command.
(Control group3)
ableGet command.
(Control group3)
The size of command
ableGet command.
(Control group3)
variable file.
ableGet command.
(Control group3)
Failed to convert
Axis coordinates.
ableGet command.
(Control group3)
Alarm list
coordinates to TCP
2
- 1323
coordinates.
2 - 1324
Alarm list
No. Code
ableGet command.
(Control group3)
coordinates to Axis
coordinates.
ableGet command.
(Control group3)
in User frame to
World frame.
ableGet command.
(Control group3)
Undefined coordi-
set.
ableGet command.
(Control group3)
Incorrect number of
user coordinate has
been set.
ableSet command.
(Control group3)
No. Code
ableSet command.
(Control group3)
Undefined position
type has been set.
ableSet command.
(Control group3)
tion variable file.
ableSet command.
(Control group3)
coordinates.
Pose command.
(Control group3)
Pose command.
(Control group3)
omeOffsets com-
mand.
(Control group3)
Alarm list
2
- 1325
2 - 1326
Alarm list
No. Code
omeOffsets com-
mand.
(Control group3)
omeOffsets com-
mand.
(Control group3)
omeOffsets com-
mand.
(Control group3)
has been set.
omeOffsets com-
mand.
(Control group3)
omeOffsets com-
mand.
(Control group3)
No. Code
omeOffsets com-
mand.
(Control group3)
omeOffsets com-
mand.
(Control group3)
has been set.
command.
(Control group3)
command.
(Control group3)
Undefined variable
type has been set.
command.
(Control group3)
Incorrect number of
command.
(Control group3)
Alarm list
2
Incorrect number of
- 1327

2 - 1328
Alarm list
No. Code
command.
(Control group3)
command.
(Control group3)
Undefined variable
type has been set.
command.
(Control group3)
Incorrect number of
command.
(Control group3)
Incorrect number of
ties command.
(Control group3)
ties command.
(Control group3)
out of range.
No. Code
ties command.
(Control group3)
of range.
ties command.
(Control group4)
ties command.
(Control group4)
out of range.
Properties command.
(Control group4)
Properties command.
(Control group4)
has been set.
Properties command.
(Control group4)
Incorrect number of
tool has been set.
Alarm list
2
- 1329
2 - 1330
Alarm list
No. Code
Properties command.
(Control group4)
file.
Frame command.
(Control group4)
Frame command.
(Control group4)
coordinate has been
set.
Frame command.
(Control group4)
Incorrect number of
user coordinate has
been set.
Frame command.
(Control group4)
coordinate file.
No. Code
Frame command.
(Control group4)
Failed to make user
coordinate.
Frame command.
(Control group4)
coordinate.
Shift command.
(Control group4)
Undefined coordi-
set.
Shift command.
(Control group4)
Failed to set frame
shift.
ByCenterPoint com-
mand.
(Control group4)
Undefined IZ action
has been set.
Alarm list
2
- 1331
2 - 1332
Alarm list
No. Code
ByCenterPoint com-
mand.
(Control group4)
Undefined coordi-
set.
ByCenterPoint com-
mand.
(Control group4)
Incorrect number of
user coordinate has
been set.
ByCenterPoint com-
mand.
(Control group4)
ByCenterPoint com-
mand.
(Control group4)
Incorrect ID number
has been set.
ByCenterPoint com-
mand.
(Control group4)
file.
No. Code
ByTwoCorners com-
mand.
(Control group4)
Undefined IZ action
has been set.
ByTwoCorners com-
mand.
(Control group4)
Undefined coordi-
set.
ByTwoCorners com-
mand.
(Control group4)
Incorrect number of
user coordinate has
been set.
ByTwoCorners com-
mand.
(Control group4)
ByTwoCorners com-
mand.
(Control group4)
Alarm list
2
Incorrect ID number
- 1333
has been set.

2 - 1334
Alarm list
No. Code
ByTwoCorners com-
mand.
(Control group4)
file.
teTransform com-
mand.
(Control group4)
teTransform com-
mand.
(Control group4)
Undefined transform
type has been set.
teTransform com-
mand.
(Control group4)
coordinates to TCP
coordinates.
teTransform com-
mand.
(Control group4)
coordinates to TCP
coordinates.
No. Code
teTransform com-
mand.
(Control group4)
coordinates to Axis
coordinates.
Incorrect number of
tool has been set.
teTransform com-
mand.
(Control group4)
coordinates to Axis
coordinates.
teTransform com-
mand.
(Control group4)
in World frame to
User frame.
Incorrect number of
user coordinate has
been set.
Alarm list
2
- 1335
2 - 1336
Alarm list
No. Code
teTransform com-
mand.
(Control group4)
in World frame to
User frame.
put coordinates.
teTransform com-
mand.
(Control group4)
in World frame to
User frame.
coordinates.
teTransform com-
mand.
(Control group4)
in World frame to
User frame.
coordinates.
No. Code
teTransform com-
mand.
(Control group4)
in World frame to
User frame.
teTransform com-
mand.
(Control group4)
in World frame to
User frame.
put coordinates.
teTransform com-
mand.
(Control group4)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
Alarm list
2
- 1337
2 - 1338
Alarm list
No. Code
teTransform com-
mand.
(Control group4)
in User frame to
World frame.
put coordinates.
teTransform com-
mand.
(Control group4)
in User frame to
World frame.
Incorrect number of
user coordinate has
been set.
teTransform com-
mand.
(Control group4)
in User frame to
World frame.
No. Code
teTransform com-
mand.
(Control group4)
in User frame to
World frame.
put coordinates.
orSyncStart com-
mand.
(Control group4)
orSyncStart com-
mand.
(Control group4)
Incorrect number of
conveyor has been
set.
orSyncStart com-
mand.
(Control group4)
orSyncStop com-
mand.
(Control group4)
Alarm list
2
- 1339
2 - 1340
Alarm list
No. Code
orSyncStop com-
mand.
(Control group4)
ableGet command.
(Control group4)
ableGet command.
(Control group4)
The size of command
ableGet command.
(Control group4)
variable file.
ableGet command.
(Control group4)
Failed to convert
Axis coordinates.
ableGet command.
(Control group4)
coordinates to TCP
coordinates.
No. Code
ableGet command.
(Control group4)
coordinates to Axis
coordinates.
ableGet command.
(Control group4)
in User frame to
World frame.
ableGet command.
(Control group4)
Undefined coordi-
set.
ableGet command.
Control group4)
Incorrect number of
user coordinate has
been set.
ableSet command.
(Control group4)
Alarm list
2
- 1341
2 - 1342
Alarm list
No. Code
ableSet command.
(Control group4)
Undefined position
type has been set.
ableSet command.
(Control group4)
tion variable file.
ableSet command.
(Control group4)
coordinates.
Pose command.
(Control group4)
Pose command.
(Control group4)
omeOffsets com-
mand.
(Control group4)
No. Code
omeOffsets com-
mand.
(Control group4)
omeOffsets com-
mand.
(Control group4)
omeOffsets com-
mand.
(Control group4)
has been set.
omeOffsets com-
mand.
(Control group4)
omeOffsets com-
mand.
(Control group4)
Alarm list
2
- 1343
2 - 1344
Alarm list
No. Code
omeOffsets com-
mand.
(Control group4)
omeOffsets com-
mand.
(Control group4)
has been set.
command.
(Control group4)
command.
(Control group4)
Undefined variable
type has been set.
command.
(Control group4)
Incorrect number of
command.
(Control group4)
Incorrect number of
No. Code
command.
(Control group4)
command.
(Control group4)
Undefined variable
type has been set.
command.
(Control group4)
Incorrect number of
command.
(Control group4)
Incorrect number of
ties command.
(Control group4)
ties command.
(Control group4)
out of range.
Alarm list
2
- 1345
2 - 1346
Alarm list
No. Code
ties command.
(Control group4)
of range.
4847 MotoLogix CON- 1 Connection failed. Connection retry tim- (1)Check connector of the cable is inserted correctly.
NECTION ERROR eout (2)Check the checksum value. If the checksum value is not
correct, send data will be ignored.
(3)Change limit time parameter (S2C[1381]). The unit is [sec].
If set to 0, limit time will be infinite.
2 Disconnected. Communication time- (1)Check connector of the cable is inserted correctly.
out (2)Check the checksum value. If the checksum value is not
correct, send data will be ignored
(3)Change watchdog timer parameter (S2C[1380]). The unit is
[ms]. If set to 0, watchdog timer will be default time.
3 Checksum value is in- Communication fail- Check the checksum value in send data.
correct. ure
4880 EXCESSIVE Setting error (1)Reset the alarm, and then check the direction of the exter-
FORCE DETEC- nal force looking at SUB-Code (the direction is based on the
TION sensor coordinate system, and operate robot to move in the di-
rection releasing external force.
(2)If the alarm occurs again, save the CMOS.BIN in mainte-
about occurrence status (operating procedure)
No. Code
4881 EXCESSIVE VE- Setting error (1) Reset the alarm, and then make the reference force small-
LOCITY CORREC- er or operate robot to move in the direction releasing external
TION force.
(2) If the alarm occurs again, save the CMOS.BIN in mainte-
4882 SINGULAR POINT Setting error (1) Reset the alarm, and then modify the toughed robot pos-
ERROR ture avoiding singularity points.
4883 SENSOR OVER Sub Code; channel Setting error (1) Reset the alarm and decrease the motion speed in JOB.
RANGE (2) If the alarm occurs again, save the CMOS.BIN in the main-
tenance mode and contact your YASKAWA representative
4884 FORCE CONTROL Setting error (1) Reset the alarm, and purchase the YASKAWA force con-
NOT PERMITTED trol function.
(2)If the alarm occurs again, save the CMOS.BIN in mainte-
4885 SENSOR OUTPUT Sub Code; channel Sensor error (1) Reset the alarm.
ERROR (2) If the alarm occurs again, save the CMOS.BIN in the main-
4886 FORCE CONTROL 1 The specified force Setting error Reset the alarm and check the force control file. The robot of
FILE ERROR control file is for other instruction does not match the robot of force control file.
manipulator. Change the file number or the settings of force control file.
Alarm list
2

- 1347
2 - 1348
Alarm list
No. Code
4887 FORCE CONTROL SUB-Code: wrong Setting error (1) Reset the alarm, and then modify the parameter in the re-
CONDITION ER- condition ferred MotoPlus application program.
ROR D0:tool number error (2) If the alarm occurs again, save the CMOS.BIN in mainte-
D1:coordinate type nance mode, and then contact your YASKAWA representative
error about occurrence status (operating procedure).
D2:singularity area
error
D3:inertia coefficient
error
D4:viscosity coeffi-
cient error
D5:stifness coefficient
error
D6:position limit error
D7:velocity limit error
D8:angular velocity
limit error
D9:angular velocity
alarm error
D10:contact stabiliz-
ing parameter error
4897 FORCE CONTROL 32 Force control param- Setting error Reset the alarm and check the tags of the instruction.
INTERNAL ERROR eter error
No. Code
64 Excessive force de- Setting error (1) Reset the alarm and check the force sensor. Too large
tected force has detected in force sensor.
(2) If the alarm occurs again, save the CMOS.BIN in the main-
128 Overspeed Setting error Reset the alarm and decrease the motion speed in JOB.
256 Singular point error Setting error Reset the alarm and check the posture of the robot. Change
the JOB to avoid the singular point.
512 Board / cable error Sensor / Cable error (1)Check the force sensor, the sensor board, and the cable of
force sensor.
(2) If the alarm occurs again, check the connection of sensor
board to the controller.
(3) If the alarm occurs again, save the CMOS.BIN in the main-
4898 EXCESSIVE SEG- Setting error (1) Reset the alarm, and then ease the velocity or check
MENT(SV) whether the posture is singular.
MENT(SAFETY whether the posture is singular.
1)(SV) (2) If the alarm occurs again, save the CMOS.BIN in mainte-
Alarm list
2

- 1349

2 - 1350
Alarm list
No. Code
MENT(SAFETY whether the posture is singular.
2)(SV) (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4901 CUBE/AXIS INTER- Sub Code; Group, ax- Setting error (1) Check the following settings.
FERENCE is, and interference ∙Perform the teaching again to correct positions for manipula-
area number tors so that the step where the alarm occurred is out of inter-
ference area.
∙Change the settings for interference area.
4902 CUBE INTERFER- Sub Code; Group and Setting error (1) Check the following settings.
ENCE (TCP) interference area ∙Change the step position where the alarm occurred to the
number area outside the interference area.
∙Modify the interference area setting.
4903 CUBE INTERFER- Sub Code; Group, ax- Setting error (1) Check the following settings.
ENCE (ENTIRE) is, and interference ∙Perform the teaching again to correct positions for manipula-
area number tors so that the step where the alarm occurred is out of inter-
ference area.
∙Change the settings for interference area.
4904 CUBE INTERFER- 0 Maximum number of Setting error (1) Reset the alarm.
ENCE AREA SET the cube interference (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ERR area exceeds the al- nance mode, and then contact your YASKAWA representative
lowable range. about occurrence status (operating procedure).
No. Code
1 The number of cube Setting error Reduce the number of cube interference area whose monitor-
interference area ing part is "whole".
whose monitoring
part is "whole" ex-
ceeds the limit.
2 Detect the cube Setting error (1)Among the cube interference areas already values are en-
whose interference tered, modify as follows.
area are extremely 1.Change the extremely big values to smaller ones.
big or small. 2.Change the extremely small values to bigger ones.
3 Detect the cube inter- Setting error (1) Reset the alarm.
ference area whose (2)If the alarm occurs just after loading the cube interference
monitoring part is set area setting function, execute the following measures.
to "whole" despite the 1.Among the cube interference areas to be loaded, change
invalid status of cube the monitoring part setting from "whole" to "control point".
arm interference 2.Load the modified cube interference area.
check function. 3.Confirm the settings if the alarm occurs again after the load-
ing operation.
4905 INSTRUCTION ER- 1 Sub code: Software operation (1) Reset the alarm and decrease the motion speed in JOB.
ROR 1 SKCHK mode re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in the main-
lease error tenance mode and contact your YASKAWA representative
Alarm list
2
- 1351
2 - 1352
Alarm list
No. Code
2 Sub code: Setting error (1) Reset the alarm and change the robot number.
Robot number error (2) If the alarm occurs again, save the CMOS.BIN in the main-
4906 MODEL DATA UN- Sub Code: model file Setting error (1) Reset the alarm and register the model file or change the
REGISTERED number model file number.
4907 MULTIPLE INST Setting error (1) Reset the alarm and modify the JOB program.
EXECUTION ER-
ROR
4908 SPEED CONTROL 1 Control group desig- Setting error (1)Reset the alarm.
ERROR nation error. (2)Check the settings for the specified control group number.
2 Speed control axis Setting error (1)Reset the alarm.
designation error. (2)Check the settings for the specified speed control axis num-
ber.
3 Maximum rotation Setting error (1)Reset the alarm.
speed over. (2)Set the rotation speed that does not exceed the maximum
rotation speed.
4909 TEST RUN(HIGH Operation mistake Select a sub menu [TEACHING CONDITION SETTING] under
ACCURACY) ER- main menu [SETUP].
ROR Set "TEST RUN CONTROL" to "NORMAL" to perform TEST
RUN operation.
No. Code
4911 SAFETY FIELDBUS 1 PROFIsafe communi- Setting error (1) Reset the alarm.
NOT ESTAB- cation was not estab- (2) If the alarm occurs again, please check the following.
LISHED lished to the default ∙SF (Group Fault) LED, BF (Bus Fault) LED of CP1616 board
time, or communica- is lit or blinking.
tion was disconnect- ∙ SF (Group Fault) LED, BF (Bus Fault) LED of safety PLC
ed after board is lit or blinking.
establishment. (3)If the above problems, there is a possibility that the connec-
tion settings of the safety PLC or CP1616 is not successful.
Please set again according to the manual.
error occurred (2) If the alarm occurs again, please re-power on the safety
PLC and the robot controller.
(2) If the alarm occurs again, please check the connection or
insertion state of cables connected to the CP1616 board and
safety PLC.
CP1616 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the CP1616 board.
10 CIP Safety communi- Software operation (1) Reset the alarm.
cation was not estab- error occurred (2) If the alarm occurs again, please re-power on the safety
lished to the default PLC and the robot controller.
time.(sub code is not
defined)
Alarm list
2
- 1353
2 - 1354
Alarm list
No. Code
(2)If the alarm occurs again, please check the following.
∙In the case of EtherNet/IP Safety, please check the connec-
tion or insertion state of cables connected to the „CN104 con-
nector of YCP21 board“ and safety PLC.
∙In the case of DeviceNet Safety, please check the connection
or insertion state of cables connected to the SST-DN4-PCU
(DeviceNet) board and safety PLC.

time.(CIP Safety
stack is under the
Self-diagnosis)
No. Code
12 CIP Safety communi- Software configura- (1) Reset the alarm.
cation was not estab- tion error occurred (2) If the alarm occurs again, the connection setup of EtherNet/
lished to the default IP (CPU board) or safety PLC may not be performed normally.
time.(Waiting for Please set up again according to a manual.
communication es-
tablish)
Alarm list
2
- 1355
2 - 1356
Alarm list
No. Code
time.(Exception gen-
erating under CIP
Safety stack self-di-
agnosis)
time.(Abort of CIP
Safety stack process-
ing)
No. Code
18 CIP Safety communi- Software configura- (1)Reset the alarm.
cation was not estab- tion error occurred (2)If the alarm occurs again, please carry out the following ac-
lished to the default cording to a manual.
time.(Waiting for
TUNID configuration) - In the case of EtherNet/IP Safety, set up TUNID (combination
data of an IP address and Safety Network Number) using RS-
NetWorx for EtherNet/IP (setting tool by Rockwell).
- In the case of DeviceNet Safety, set up TUNID (combination
data of a MAC ID and Safety Network Number) using
RSLogix5000 (setting tool by Rockwell).
Alarm list
2
- 1357
2 - 1358
Alarm list
No. Code
4912 SAFETY FIELDBUS 1 Value of F_Dest_Add Setting error (1) Reset the alarm.
COMM ERROR do not match. (2) If the alarm occurs again, please check the following F-Pa-
rameter settings.
∙The value of F_Dest_Add that is set to the safety PLC and the
CP1616 board are the same.
2 Value of F_Dest_Add Setting error (1) Reset the alarm.
is out of range. (2) If the alarm occurs again, please check the following F-Pa-
rameter settings.
∙The value of F_Dest_Add that is set to the safety PLC and the
CP1616 board is in the range of 1-65534.
No. Code
3 Value of F_Src_Add Setting error (1) Reset the alarm.
is out of range. (2) If the alarm occurs again, please check the following F-Pa-
rameter settings.
∙The value of F_Src_Add that is set to the safety PLC is in the
range of 1-65534.
4 Value of F_WD_Time Setting error (1) Reset the alarm.
is 0. (2) If the alarm occurs again, please check the following F-Pa-
rameter settings.
∙The value of F_WD_Time that is set to the safety PLC is 1 or
more.
5 Value of F_SIL is in- Setting error (1) Reset the alarm.
valid. (2) If the alarm occurs again, please check the following.
∙ When setting up the safety the PLC, whether imported into
SIEMENS manufactured configuration tool(STEP 7) GSD file
of CP1616 board we offer.
Alarm list
2
- 1359
2 - 1360
Alarm list
No. Code
6 Value of F_Par_Ver- Setting error (1) Reset the alarm.
sion is invalid. (2) If the alarm occurs again, please check the following.
7 Value of F_CRC do Setting error (1) Reset the alarm.
not match. (2) If the alarm occurs again, please check the following.
8 Setting the value of Setting error (1) Reset the alarm.
the F-Parameter is in- (2) If the alarm occurs again, please check the following.
valid. ∙ When setting up the safety the PLC, whether imported into
No. Code
10 Size of F_CRC is in- Setting error (1) Reset the alarm.
valid. (2) If the alarm occurs again, please check the following.
20 Processing of safety Software operation (1) Reset the alarm.
field bus does not error occurred (2) If the alarm occurs again, please turn the power OFF then
start. back ON.
30 Communication error Connection failure (1) Reset the alarm.
of safety field bus oc- (2) If the alarm occurs again, please check the connection or
curred. insertion state of cables connected to the CP1616 board and
safety PLC.
Alarm list
2
- 1361
2 - 1362
Alarm list
No. Code
31 Watchdog time error Connection failure (1) Reset the alarm.
of safety field bus oc- (2) If the alarm occurs again, please check the connection or
curred. insertion state of cables connected to the CP1616 board and
safety PLC.
32 Passivated state. Software operation (1) Reset the alarm.
error occurred (2) If the alarm occurs again, you need to release the passiv-
ated state. Please release the passivated state by operating
the safety program from SIEMENS manufactured configura-
tion tool(STEP 7).
No. Code
20000 A communication er- Connection failure (1) Reset the alarm.
ror (CH1) occurred at (2) If the alarm occurs again, please check the following.
connection with the
CIP safety. ∙In the case of EtherNet/IP Safety, please check the connec-
A SUB-Code shows tion or insertion state of cables connected to the „CN104 con-
the internal status of a nector of YCP21 board“ and safety PLC.
CIP Safety stack. ∙In the case of DeviceNet Safety, please check the connection
tion tool (STEP 7).
30000 A communication er- Connection failure (1) Reset the alarm.
ror (CH2) occurred at (2) If the alarm occurs again, please check the following.
connection with the
CIP safety. ∙In the case of EtherNet/IP Safety, please check the connec-
A SUB-Code shows tion or insertion state of cables connected to the „CN104 con-
the internal status of a nector of YCP21 board“ and safety PLC.
CIP Safety stack. ∙In the case of DeviceNet Safety, please check the connection
Alarm list
2
- 1363
2 - 1364
Alarm list
No. Code
tion tool (STEP 7).
4913 SUB SEQUENCE 1 Unused A_BANK Software operation (1) Reset the alarm, and then try again.
TASK CONTR ER- does not exist in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ROR prereading process- nance mode, and then contact your YASKAWA representative
tion.
does not exist in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
prereading process- nance mode, and then contact your YASKAWA representative
tion.
not set. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
could not be per- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
formed. nance mode, and then contact your YASKAWA representative
No. Code
A_BANK number error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
does not exist. nance mode, and then contact your YASKAWA representative
when system num- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ber(MSS) was ob- nance mode, and then contact your YASKAWA representative
tained. about occurrence status (operating procedure).
RMS960 system call. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
command was re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ceived. nance mode, and then contact your YASKAWA representative
23 JOB start condition is Software operation (1) Reset the alarm, and then try again.
not defined. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
instruction prefetch error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
queue operation. nance mode, and then contact your YASKAWA representative
Alarm list
2
- 1365
2 - 1366
Alarm list
No. Code
processing has not error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
been completed nor- nance mode, and then contact your YASKAWA representative
JOB data change. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
quence number at job error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
execution start is in- nance mode, and then contact your YASKAWA representative
terruption command error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
is incorrect. nance mode, and then contact your YASKAWA representative
33 System num- Software operation (1) Reset the alarm, and then try again.
ber(MSS) for interrup- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
tion command is nance mode, and then contact your YASKAWA representative
start of twin synchro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
nous operation. nance mode, and then contact your YASKAWA representative
when SYNC specifi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
cation was reset. nance mode, and then contact your YASKAWA representative
No. Code
occupation control error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
group setting in MO- nance mode, and then contact your YASKAWA representative
path/trace control. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
when waiting for a error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
completion of main nance mode, and then contact your YASKAWA representative
SYNC specification.
to execute an instruc- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
tion that could not be nance mode, and then contact your YASKAWA representative
quence execution.
while obtaining the in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
struction information. nance mode, and then contact your YASKAWA representative
occurred in job execu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
tion process. nance mode, and then contact your YASKAWA representative
command is incorrect error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
in prereading pro- nance mode, and then contact your YASKAWA representative
Alarm list
2

- 1367
2 - 1368
Alarm list
No. Code
101 SUP-processing Software operation (1) Reset the alarm, and then try again.
ing has not been com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
pleted at JOB nance mode, and then contact your YASKAWA representative
has not been com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
pleted. nance mode, and then contact your YASKAWA representative
ber(MSS) is incorrect error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
queue operation in nance mode, and then contact your YASKAWA representative
ing.
IES switching in pre- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
reading processing. nance mode, and then contact your YASKAWA representative
prereading operation error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
process. nance mode, and then contact your YASKAWA representative
No. Code
quence number is in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
correct. nance mode, and then contact your YASKAWA representative
executed in P-PLC about occurrence status (operating procedure).
program.
4914 SUB SE- 1 Unused A_BANK Software operation (1) Reset the alarm, and then try again.
QUENCE(H) TASK does not exist in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
CONTR ERROR prereading process- nance mode, and then contact your YASKAWA representative
tion.
does not exist in the error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
tion.
not set. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
could not be per- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
formed. nance mode, and then contact your YASKAWA representative
A_BANK number error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
Alarm list
does not exist.
2

- 1369

2 - 1370
Alarm list
No. Code
when system num- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ber(MSS) was ob- nance mode, and then contact your YASKAWA representative
tained. about occurrence status (operating procedure).
RMS960 system call. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
command was re- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ceived. nance mode, and then contact your YASKAWA representative
23 Job start condition is Software operation (1) Reset the alarm, and then try again.
queue operation. nance mode, and then contact your YASKAWA representative
processing has not error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
been completed nor- nance mode, and then contact your YASKAWA representative
No. Code
JOB data change. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
quence number at error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
JOB execution start is nance mode, and then contact your YASKAWA representative
terruption command error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
is incorrect. nance mode, and then contact your YASKAWA representative
ber(MSS) for interrup- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
tion command is nance mode, and then contact your YASKAWA representative
start of twin synchro- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
nous operation. nance mode, and then contact your YASKAWA representative
when SYNC specifi- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
cation was reset. nance mode, and then contact your YASKAWA representative
occupation control error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
group setting in MO- nance mode, and then contact your YASKAWA representative
Alarm list
2
- 1371
2 - 1372
Alarm list
No. Code
path/trace control. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
when waiting for a error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
completion of main nance mode, and then contact your YASKAWA representative
SYNC specification.
quence execution.
while obtaining the in- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
struction information. nance mode, and then contact your YASKAWA representative
occurred in job execu- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
tion process. nance mode, and then contact your YASKAWA representative
101 Subprocessing com- Software operation (1) Reset the alarm, and then try again.
mand is incorrect in error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
No. Code
ing has not been com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
pleted at JOB nance mode, and then contact your YASKAWA representative
has not been com- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
pleted. nance mode, and then contact your YASKAWA representative
(MSS) is incorrect in error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
queue operation in nance mode, and then contact your YASKAWA representative
ing.
IES switching in pre- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
reading processing. nance mode, and then contact your YASKAWA representative
executed in SUB se- about occurrence status (operating procedure).
quence (H) task
Alarm list
2
- 1373
2 - 1374
Alarm list
No. Code
4915 PathSwitch CON- 1 When PSTRIG in- Setting error (1) Reset the alarm.
TROL ERROR struction was execut- (2) Check whether PLCSTPON instruction and PLCSTPOF in-
ed, there was not struction is registered. When unregistered, register PLCST-
PLCSTPON instruc- PON instruction and PLCSTPOF instruction.
tion or PLCSTPOF in-
struction.
2 When PSTRIG in- Setting error (1) Reset the alarm.
struction was execut- (2) Check whether P-PLC instruction is registered. When un-
ed, P-PLC instruction registered, register P-PLC instruction.
had not been execut-
ed. (3) When PSTRIG instruction is executed, check P-PLC in-
struction is whether it has been executed.If it is not running,
please run PSTRIG instruction after P-PLC instruction execu-
tion.
3 The number of Setting error (1) Reset the alarm.
PSTRIG instruction (2) Please reduce the number that can be set PSTRIG instruc-
exceeds the limit in tion.
the PointPLC pro-
gram.
4 Delay control was not Setting error (1) Reset the alarm.
completed. (2) Please change the teaching to be able to delay control.
5 PSTRIG instruction Software operation (1) Reset the alarm, and then try again.
execution result is err. error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
No. Code
4916 WRONG JOB EXEC Sub Code: Control Setting error (1) Check the following settings.
OF DETACHED group ∙ [OPTION FUNCTION] - [AXES DETACHMENT] settings in
AXIS maintenance mode. Cancel the detachment axis setting of the
JOB control group.
4917 WRONG JOB EXEC Sub Code: Control Setting error (1) Check the following settings.
OF DETACHED group ∙ [OPTION FUNCTION] - [AXES DETACHMENT] settings in
AXIS maintenance mode. Cancel the detachment axis setting of the
JOB control group.
4918 PROFINET SET- 16 Device name or IP Setting error (1) Reset the alarm.
TING ERROR address has not been (2) If the alarm occurs again, please carry out the following ac-
set to CP1616 board cording to a manual.
connected with 1st
PCI connector. ∙Set the device name and IP address to CP1616 board by us-
ing STEP 7 (setting tool by SIEMENS).
(2) If the alarm occurs again, replace the CP1616 board
Alarm list
2
- 1375
2 - 1376
Alarm list
No. Code
17 Device name or IP Setting error (1) Reset the alarm.
address has not been (2) If the alarm occurs again, please carry out the following ac-
set to CP1616 board cording to a manual.
connected with 2nd
PCI connector. ∙Set the device name and IP address to CP1616 board by us-
ing STEP 7 (setting tool by SIEMENS).
(2) If the alarm occurs again, replace the CP1616 board
116 Firmware version of CP1616 board failure (1) Turn the power OFF then back ON.
CP1616 board con- (2) If the alarm occurs again, replace the CP1616 board
nected with 1st PCI
connector and driver
software version does
not match
CP1616 board ver- (1)Reset the alarm.
sion failure (2) If the alarm occurs again, please request the update of
CP1616 board firmware to your YASKAWA representative.
117 Firmware version of CP1616 board failure (1) Turn the power OFF then back ON.
CP1616 board con- (2) If the alarm occurs again, replace the CP1616 board
nected with 2nd PCI
connector and driver
software version does
not match.
CP1616 board ver- (1)Reset the alarm.
sion failure (2) If the alarm occurs again, please request the update of
CP1616 board firmware to your YASKAWA representative.
No. Code
4919 SYSTEM JOB(CY- 1 Task ID error Software operation (1) Turn the power OFF then back ON.
CLIC) EXEC. ER- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ROR nance mode, and then contact your YASKAWA representative
2 MSS ID error Software operation (1) Reset the alarm, and then try again.
error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
3 JOB handle error Software operation (1) Reset the alarm, and then try again.
4 RMS error Software operation (1) Reset the alarm, and then try again.
5 Job type is not SYS- Setting error (1)Check the following settings.
TEM JOB(CYCLIC/ ∙Change the JOB type to „SYSTEM JOB (CYCLIC/HIGH)“.
HIGH).
6 The intermediate Software operation (1) Reset the alarm, and then try again.
code of the instruction error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
that is to be executed nance mode, and then contact your YASKAWA representative
is incorrect. about occurrence status (operating procedure).
7 The instruction can- Setting error (1) Check the following settings.
not be executed in the ∙Delete the instruction in which alarm occurred, because the
Alarm list
SYSTEM JOB(CY-
2
instruction cannot be executed in the SYSTEM JOB (CYCLIC/

- 1377
CLIC/HIGH). HIGH).
2 - 1378
Alarm list
No. Code
9 The reinterpretation Software operation (1) Reset the alarm, and then try again.
of the instruction was error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ordered when execut- nance mode, and then contact your YASKAWA representative
ing the instruction. about occurrence status (operating procedure).
10 The SYSTEM JOB Setting error (1) Check the following settings.
(CYCLIC/HIGH) was ∙Delete the instruction in which alarm occurred, because the
going to branch to the SYSTEM JOB (CYCLIC/HIGH) cannot branch to the other
other JOB. JOB.
11 The execution num- Setting error (1) Check the following settings.
ber of SYSTEM JOB ∙Correct the JOB under the current limitation of execution
(CYCLIC/HIGH) ex- number, because SYSTEM JOB(CYCLIC/HIGH) can no lon-
ceeded a limitation. ger be executed.
12 The execution of Setting error (1) Check the following settings.
SYSTEM JOB (CY- ∙Reduce the number of items in the SYSTEM JOB(CYCLIC/
CLIC/HIGH) was not HIGH).
finished within a time
limit.
13 The SYSTEM JOB Software operation (1) Reset the alarm, and then try again.
(CYCLIC/HIGH) was error occurred (2)If the alarm occurs again, save the CMOS.BIN in mainte-
executed in the sys- nance mode, and then contact your YASKAWA representative
tem being executed about occurrence status (operating procedure).
already.
14 The execution num- Setting error (1)Check the following settings.
ber of items in the ∙Reduce the number of items in the SYSTEM JOB(CYCLIC/
SYSTEM JOB (CY- HIGH) within the limit number (Initial setting is 300).
CLIC/HIGH) exceed-
ed a limitation.
No. Code
TOR SELF CHECK SUB-Code is as fol- (2) If the alarm occurs again, check the connection and insert-
ERR lows: ing state of the following cables and connectors.
CPU1 1:SFRON1 ∙YSF22-CN217
CPU1 2:SFRON2 ∙YPU-CN607
CPU1 3:SFRON3 ∙Cable continuity between YSF22 board and YPU unit.
CPU1 4:SFRON4
CPU2 1:SFRON1
CPU2 2:SFRON2
CPU2 3:SFRON3
CPU2 4:SFRON4
In a system where a plurality of YSF22 boards are connected,
replace the board on which the alarm occurred.
In a system where a plurality of YPU units are connected, re-
place the unit, which is connected to the unit on which the
alarm occurred.
Alarm list
2
- 1379
2 - 1380
Alarm list
No. Code
4921 M-SAF STO SELF The meaning of each Connection failure (1) Reset the alarm.
CHECK ERR sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
lows: ing state of the following cables and connectors.
CPU1 3:STO3
CPU1 4:STO4
CPU2 1:STO1
CPU2 2:STO2
CPU2 3:STO3
CPU2 4:STO4
No. Code
OUT SELF CHECK sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
CPU2 1:GSOUT1
CPU2 2:GSOUT2
replace the board, which is connected to the GSIN signal on
In a system where a plurality of YFC22 boards are connected,
Alarm list
2
- 1381
2 - 1382
Alarm list
No. Code
OUT SELF CHECK sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
CPU1 1:XOUT1 ∙YSF24
CPU1 2:XOUT2 ∙Cable continuity between YSF22 board and YSF24 board.
CPU1 3:XOUT3
CPU1 4:XOUT4
CPU1 5:XOUT5
CPU1 6:XOUT6
CPU1 7:XOUT7
CPU1 8:XOUT8
CPU2 1:XOUT1
CPU2 2:XOUT2
CPU2 3:XOUT3
CPU2 4:XOUT4
CPU2 5:XOUT5
CPU2 6:XOUT6
CPU2 7:XOUT7
CPU2 8:XOUT8
No. Code
TOR UNMATCH sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
CPU1 1:SFRON1 ∙YSF22-CN217
CPU1 2:SFRON2 ∙YPU-CN607
CPU1 3:SFRON3 ∙Cable continuity between YSF22 board and YPU unit.
CPU1 4:SFRON4
CPU2 1:SFRON1
CPU2 2:SFRON2
CPU2 3:SFRON3
CPU2 4:SFRON4
Alarm list
2
- 1383
2 - 1384
Alarm list
No. Code
In a system where a plurality of YPU units are connected, re-
place the unit, which is connected to the unit on which the
alarm occurred.
4925 M-SAF STO UN- The meaning of each Connection failure (1) Reset the alarm.
MATCH sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
CPU1 3:STO3
CPU1 4:STO4
CPU2 1:STO1
CPU2 2:STO2
CPU2 3:STO3
CPU2 4:STO4
No. Code
OUTPUT UN- sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
MATCH lows: ing state of the following cables and connectors.
CPU2 1:GSOUT1
CPU2 2:GSOUT2
In a system where a plurality of YFC22 boards are connected,
Alarm list
2
- 1385
2 - 1386
Alarm list
No. Code
OUTPUT UN- sub code is as fol- (2) If the alarm occurs again, check the connection and insert-
MATCH lows: ing state of the following cables and connectors.
CPU1 1:XOUT1 ∙YSF24
CPU1 2:XOUT2 ∙Cable continuity between YSF22 board and YSF24 board.
CPU1 3:XOUT3
CPU1 4:XOUT4
CPU1 5:XOUT5
CPU1 6:XOUT6
CPU1 7:XOUT7
CPU1 8:XOUT8
CPU2 1:XOUT1
CPU2 2:XOUT2
CPU2 3:XOUT3
CPU2 4:XOUT4
CPU2 5:XOUT5
CPU2 6:XOUT6
CPU2 7:XOUT7
CPU2 8:XOUT8
No. Code
4928 M-SAF OUTPUT SUB-Code is the out- Connection failure (1) Reset the alarm.
SIG. SELF CHECK put signal number (2) If the alarm occurs again, check the connection and insert-
ERR that detected error. ing state of the following cables and connectors.
∙YSF22
∙Cable continuity between YSF21 board and YSF22 board.

4929 M-SAF INPUT SIG. SUB-Code is the in- Connection failure (1) Reset the alarm.
SELF CHECK ERR put signal number (2) If the alarm occurs again, check the connection and insert-
that detected error. ing state of the following cables and connectors.
∙YSF22
∙Cable continuity between YSF21 board and YSF22 board.

Alarm list
2
- 1387
2 - 1388
Alarm list
No. Code
4932 REFERENCE 1 reference user frame Setting error (1) Reset the alarm.
USER FRAME ER- not set (2) Check the following settings.
ROR ∙Reference user frame
2 multiple reference Setting error (1) Reset the alarm.
user frame (2) Check the following settings.
∙reference user frame
3 Incorrect control Setting error (1) Reset the alarm.
group designation (2) Check the following settings.
∙reference user frame
4934 MotoPlus APP. RE- 0 The message which Setting error (1) Turn the power OFF then back ON.
SPONSE ERROR was sent the last time
has not been re-
ceived.
1 The message which Setting error (1) Turn the power OFF then back ON.
was sent when the (2) If the alarm occurs again, check the following settings.
NEXT/BACK/TEST
operation was exe- ∙The MotoPlus application has been running.
cuted. ∙The MotoPlus API mpSendEventAck() that responds to sys-
tem software is called in the MotoPlus application.
2 The message that Setting error (1) Turn the power OFF then back ON.
was sent when the job (2) If the alarm occurs again, check the following settings.
was started.
∙The MotoPlus application has been running.
∙The MotoPlus API mpSendEventAck() that responds to sys-
No. Code
3 The message which Setting error (1) Turn the power OFF then back ON.
was sent from the (2) If the alarm occurs again, check the following settings.
pendant application.
∙The MotoPlus application has been running.
∙The MotoPlus API mpSendEventAck() that responds to sys-
4935 PointPLC EXE- 1 TAG could not be ex- Setting error (1) Reset the alarm.
CUTE ERROR ecuted on JUMP in- (2) Delete the TAG of the JUMP instruction which cannot be
struction in the executed in the PointPLC program.
PointPLC program.
2 JUMP instruction or Setting error (1) Reset the alarm.
LABEL is wrong in the (2) Modify the JUMP instruction or LABEL in the PointPLC pro-
PointPLC program. gram.
JUMP destination in the PointPLC program will need to be set
in the PointPLC program.
JUMP destination outside of PointPLC program will need to be
set outside PointPLC program.
3 TAG could not be ex- Setting error (1) Reset the alarm.
ecuted on CLEAR in- (2) Delete the TAG of the CLEAR instruction which cannot be
PointPLC program.
4 TAG could not be ex- Setting error (1) Reset the alarm.
ecuted on CALL in- (2) Delete the TAG of the CALL instruction which cannot be
PointPLC program.
4936 LOCAL VARIABLE 1 Local variable is used Setting error (1)Reset the alarm.
CONTROL ERROR in the PointPLC pro- (2) Modify the instruction that uses Local variable in the Point-
gram. PLC program.
Alarm list
2
- 1389
2 - 1390
Alarm list
No. Code
4937 TIMING ADJUST- 1 Adjustment setting is Setting error Correct the job so that adjustment setting is within the control
MENT SETTING exceeds the control area.
ERROR area of the advance
or delay control.
2 Timing advance con- Setting error Correct the job so that it does not across the instructions that
trol was impossible. can not be advance control.
3 Timing delay control Setting error Correct the job so that it does not across the instructions that
was inpossible. can not be delay control.
4940 MOTION COM- Software operation (1) Reset the alarm.
MAND CODE ER- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ROR (SV) nance mode, and then contact your YASKAWA representative
4941 CANNOT EXE- Software operation (1) Reset the alarm.
CUTE MOTION error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
CMD (SV) nance mode, and then contact your YASKAWA representative
4942 AVERAGING TIME Software operation (1) Reset the alarm.
CHANGE ERR (SV) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4943 AVERAGING TIME Software operation (1) Reset the alarm.
ERROR (SERVO) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4944 POSITION LOOP Software operation (1) Reset the alarm.
GAIN ERROR (SV) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
No. Code
4945 MOTION COM- Software operation (1) Reset the alarm.
MAND DATA ER- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
ROR (SV) nance mode, and then contact your YASKAWA representative
4946 PG POWER ON IN- Software operation (1) Reset the alarm.
COMPLETE (SV) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4947 SERVO ON MULTI- Software operation (1) Reset the alarm.
PLE REQUEST error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
(SV) nance mode, and then contact your YASKAWA representative
4948 ENCODER ALARM Software operation (1) Reset the alarm.
(SERVO) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4949 GUN BEND MULTI Sub Code: Signifies Setting error Check the settings for JOBs.
CORRECT ERR the axis in which the
(SV) alarm occurred
4950 MOTOR GUN POS. Sub Code: Signifies Setting error (1) Check the settings for JOBs.
DIFF. OVER (SV) the axis in which the (2) If this alarm occurs after the SERVO power cycling during
alarm occurred work handling process
under the condition where the Handling motion continue func-
tion is activated (S2C691=1),
review the threshold value (S1CxG624 -) as necessary.
Alarm list
2

- 1391

2 - 1392
Alarm list
No. Code
4951 WRONG MOTOR Sub Code: Signifies Setting error Check the settings for JOBs.
GUN CHANGE the axis in which the
AXIS (SV) alarm occurred
4952 WRONG MOTOR Sub Code: Signifies Setting error Check the settings for JOBs.
GUN FILE NO. the axis in which the
(SERVO) alarm occurred
4953 ENCODER Connection failure (1) Reset the alarm
COUNTER DIFF. (2) If the alarm occurs again, check the connection and insert-
ERR (SV) ing state of the following cables and connectors.
{Robot axis}
∙EAXA21-CN508
{External axis}
∙EAXB21-CN534,535,536
4954 REALTIME STATUS Software operation (1) Reset the alarm.
S/R ERROR (SV) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
No. Code
4955 AVERAGING DATA Software operation (1) Reset the alarm.
4956 AVERAGING SUM Software operation (1) Reset the alarm.
4957 AVERAGING STA- Software operation (1) Reset the alarm.
TUS ERR (SERVO) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4958 HIGH RESOLU- Software operation (1) Reset the alarm.
TION PRM UNDE- error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
FINED (SV) nance mode, and then contact your YASKAWA representative
4959 WRONG GRP Software operation (1) Reset the alarm.
CHANGE AXIS error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
(SERVO) nance mode, and then contact your YASKAWA representative
4960 BELT SNAP DE- Setting error (1) Reset the alarm.
TECT PRM ERROR (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4961 SERIAL ENC OS- Software operation (1) Reset the alarm.
CILL DETECTED error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4962 BRAKE LOCK ER- Software operation (1) Reset the alarm.
ROR (SERVO) error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
Alarm list
2

- 1393

2 - 1394
Alarm list
No. Code
4963 BRAKE RELEASE Software operation (1) Reset the alarm.
4964 CONST.SPD MEA- Software operation (1) Reset the alarm.
SURE MULTI REQ error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
4965 DIN SIGNAL SPE- Sub Code: Signifies Setting error Check the settings for JOBs.
CIFIC. ERROR (SV) the axis in which the
alarm occurred
4966 DB RESIST NOT Connection failure (1) Reset the alarm.
INSTALLED (SV) (2) If the alarm occurs again, check the connection and insert-
ing state of the following cables and connectors.
∙DB resist of CN585 amplifier
∙Short-circuit connector CN585 amplifier
∙Amplifier-CN583
∙Converter-CN556,CN558
DB resist board fail- (1) Reset the alarm.
ure (2) The DB resist may be fired. Replace the DB resist.
No. Code
4967 RATED CURRENT Setting error (1) Reset the alarm.
AND MAXIMUM (2) If the alarm occurs again, contact your YASKAWA repre-
CURRENT HIGH sentative about occurrence status (operating procedure).
RESOLUTION PRM
UNDEFINED (SER-
VO)
4969 CONVTR POWER Sub Code: Signifies Primary power supply Confirm that appropriate primary voltage is applied to the
ERR (FREQUEN- the axis in which the failure breaker.
CY) (SV) alarm occurred Prescribed voltage: 200V (+10% to 15%)
(2) If the alarm occurs again, check the connection and inser-
tion of the following cables and connectors.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙EX1SV(External axis servo pack)-CN591,592
EAXA21 board failure (1) Reset the alarm.(In case of major alarm, turn the power
OFF then back ON.)
(2) If the alarm occurs again, replace the EAXA21 and
EAXB21 boards. Save the CMOS.BIN before replacing the
board to be safe.
4970 CONVTR POWER Sub Code: Signifies Primary power supply Confirm that appropriate primary voltage is applied to the
ERR the axis in which the failure breaker.
(PHASE SEQ.)(SV) alarm occurred Prescribed voltage: 200V (+10% to 15%)
Alarm list
2
- 1395
2 - 1396
Alarm list
No. Code
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
OFF then back ON.)
board to be safe.
4971 CONVTR POWER Primary power supply Confirm that appropriate primary voltage is applied to the
ERR (PEAK) (SV) failure breaker.
Prescribed voltage: 200V (+10% to 15%)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
No. Code
OFF then back ON.)
board to be safe.

4972 CONVTR REGEN- Primary power supply Check the primary voltage for the converter.
ERATE OVERLOAD failure
(SV)
Setting error Check the following settings;
∙Tool data
∙JOB
∙Workpiece
∙JOB speed
∙Acceleration and deceleration (ACC, DEC)
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
Module failure (Re- (1) Disconnect the converter CN557 to check if there is no ca-
generative resistor) ble disconnection.
(2) If disconnected, replace the regenerative resistor.
Alarm list
2
- 1397
2 - 1398
Alarm list
No. Code
OFF then back ON.)
board to be safe.
4973 POSITION ERROR Sub Code: Signifies Setting error Confirm the following settings;
(COLLISION DE- the axis in which the ∙Tool information
TECT) alarm occurred ∙Workpiece
4974 POSITION ERROR Sub Code: Signifies Software operation (1) Reset the alarm.
(START LIFT) the axis in which the error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
alarm occurred nance mode, and then contact your YASKAWA representative
4975 WRONG START Sub Code: Signifies Software operation (1) Reset the alarm.
LIFT AXIS (SERVO) the axis in which the error occurred (2) If the alarm occurs again, save the CMOS.BIN in mainte-
alarm occurred nance mode, and then contact your YASKAWA representative
4976 GUN SEARCH DE- Sub Code: Signifies Setting error Check the following settings.
TECT RANGE the axis in which the ∙Home position of gun axis.
OVER alarm occurred ∙"The pulse-stroke converter" in the gun condition file.
∙The value of the wear correction.
Effect of external (1) Check that no objects exist between workpiece and gun.
force (2) Check the lost tip.
No. Code
4977 GUN SEARCH POS Sub Code: Signifies Setting error Check the following settings.
ERROR the axis in which the ∙Home position of gun axis.
alarm occurred ∙"The pulse-stroke converter" in the gun condition file.
∙The value of the wear correction for movable gun tip.
Effect of external (1)Check the amount of the gap between workpiece position
force and the teaching position.
(2) Check the lost tip for movable gun.
4978 UNIV.IN/OUT SIG- 1 Universal input/output Connection failure (1) Reset the alarm.
NAL BROKEN 1 between EAXA21 (2) If the alarm occurs again, check the connection and insert-
(SERVO) boards is broken. ing state of the following cables and connectors.
∙EAXA21-CN514
(3) If the alarm occurs again, check if the cable is disconnect-
ed.
2 Universal output 1for Setting error (1) Reset the alarm.
SV#1 (SV#2) is incon- (2) If the alarm occurs again, check the connection and insert-
sistent with Universal ing state of the following cables and connectors.
input 1 for ∙EAXA21-CN514
SV#2(SV#1). (3) If the alarm occurs again, save the CMOS.BIN in mainte-
3 Universal output 1for Setting error (1) Reset the alarm.
Alarm list
2
- 1399

2 - 1400
Alarm list
No. Code
4 Universal input/output Connection failure (1) Reset the alarm.
2 between EAXA21 (2) If the alarm occurs again, check the connection and insert-
boards is broken or its ing state of the following cables and connectors.
connector (CN514) is ∙EAXA21-CN514
disconnected. (3) If the alarm occurs again, check if the cable is disconnect-
ed.
5 Universal output 2 for Setting error (1) Reset the alarm.
6 Universal output 2 for Setting error (1) Reset the alarm.
4980 DESTINATION Setting error (1) Check the following settings.
PULSE LIMIT ∙Check the position setting for the step (move instruction)
where the alarm occurred.
4981 DEST PULSE ME- Setting error (1) Check the following settings.
CHANICAL LIMIT ∙Check the position setting for the step (move instruction)
No. Code
4982 DEST MECHANI- Setting error (1) Check the following settings.
CAL INTRF ∙Check the position setting for the step (move instruction)
4983 DEST MECHANI- Setting error (1) Check the following settings.
CAL INTRF ∙Check the position setting for the step (move instruction)
4984 DESTINATION Setting error (1) Check the following settings.
SELF-INTERFER- ∙Check the position setting for the step (move instruction)
ENCE where the alarm occurred.
4985 TEACH LINE CORD Setting error Correct the attitude of the tool and the ground are out of verti-
JOG MOVE DIS- cal, and execute teach line cord jog move.
ABLE
4986 TEACH LINE CORD Setting error Execute FWD/BWD/TEST RUN operation, and execute teach
JOG MOVC DIS- line cord jog move.
Alarm list
ABLE
2
- 1401
2 - 1402
Alarm list
No. Code
4987 WELD LINE CORD 1 IMPOSSIBLE MO- Setting error (1) Check the following settings.
SHIFT MOV DIS- TION(Y direction) ∙Correct the teaching positions so that the attitude of the tool
ABLE and the ground are out of vertical.
2 IMPOSSIBLE MO- Setting error (1) Check the following settings.
TION(Y direction) ∙The robot can not move to the target shift position. Change
shift volume or modify the teaching position.
4988 WELD LINE CO- 1 PREFLOW not exe- Setting error (1) When executing weld line coordinate shift operation, start
ORD SHIFT DIS- cuted the JOB with one step before ARCON instruction.
ABLE (2) When teaching the JOB for weld line coordinate shift oper-
ation, set the ARCON instruction in the JOB in which the weld
line coordinate shift operation is to be performed. (Don't set
ARCON instruction in the JOB which is target for CALL instruc-
tion without setting any weld start teaching point.)
To use ARCON instruction without weld start point in the CALL
destination JOB, disable the weld line coordinated shift func-
tion in the weld start condition file.
4989 DEFECTIVE OPER- Sub Code: Control Setting error (1) Check the following settings.
ATION VELOCITY group ∙Please do not take effect safety of the speed limit by the func-
tional safety during the interval of ARCON.
No. Code
4990 MOTION ERROR Sub Code: Control Setting error (1) Check the following settings.
(SINGULAR POS- group ∙Change the teaching orientation.
TURE)
[Tube built-in wrist type models]
When a flange is parallel to a XY plane of the robot coordinat-
ed system, teach the flange so that it is inclined more than 0.01
degrees.
4991 IO MODULE PROC 16 The procedure of the Setting error (1)Check the following settings.
OVERTIME accessing to I/O mod- ∙When SST-DN4 is used; maximum waiting time for accessible
ule which is connect- to PCI board
ed with 1st PCI ∙PCI slot number in which each PCI board is mounted
connector did not fin- ∙I/O module settings in maintenance mode
ish in the defined peri-
od.
tion of the following connector.
Board failure (I/O (1) Turn the power OFF then back ON.
module) (2) If the alarm occurs again, replace the following board. Save
Alarm list
2
- 1403
2 - 1404
Alarm list
No. Code
YIF board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YIF01 board. Save
the CMOS.BIN before replace the board to be safe. Replace
alarm occurred.
17 The procedure of the Setting error (1) Check the following settings.
accessing to I/O mod- ∙When SST-DN4 is used; maximum waiting time for accessible
ed with 2nd PCI
connector did not fin- ∙PCI slot number in which each PCI board is mounted
ish in the defined peri- ∙I/O module settings in maintenance mode
od.
Board failure (I/O (1) Turn the power OFF then back ON.
YIF board failure (1)Turn the power OFF then back ON.
alarm occurred.
No. Code
18 The procedure of the Setting error (1) Check the following settings.
ed with 3rd PCI
od.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connection and inser-
Board failure (I/O (1)Turn the power OFF then back ON.
module) (2)If the alarm occurs again, replace the following board. Save
∙The corresponding I/O module(PCI board)
YIF board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the YIF01 board. Save
alarm occurred.
19 The procedure of the Setting error (1)Check the following settings.
ed with 4th PCI
od.
Alarm list
2

- 1405

2 - 1406
Alarm list
No. Code
Board failure(I/O (1) Turn the power OFF then back ON.
YIF board failure (1) Turn the power OFF then back ON.
alarm occurred.
Alarm list
2 - 1407
YASKAWA Headquarter

Maintenance Manual: Alarm List

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Maintenance Manual: Alarm List

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ROBOTICS

Changes made in revision:

1.1 Notes for safe operation

1.2 Frequently used terms

1.3 Target group

1.4 Intended use

1.5 Improper use

1.6 About this manual

JOB EDIT DISPLAY UTILITY

Main Menu Short Cut Turn on servo power

LAYOUT TOOL SEL GO BACK

ROBOT INFORM 4 5 6 BWD FWD

Fig. 1-1: Programming pendant

1 Emergency Stop button

Fig. 1-3: Emergency Stop button

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

1.7.1 YASKAWA manual list

1.9 Authorized representative

2.1 Outline of alarm

Alarm code Alarm level Alarm Reset Method

Tab. 2-1: Alarm code classification

2.2 Alarm display

2.2.1 Show alert

1 Alarm 4100 [1] 2

Fig. 2-1: Alarm display

1 Alarm number 3 Alarm messages

2.2.2 Releasing alarm

Alarms are classified by minor and major alarms.

2.2.3 Special alarm display

TASK#9: Sub-task9 job (SUB9)

2.3 Alarm message list

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

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

Alarm Alarm Name SUB- Meaning Cause Remedy

nal memory device.

ure YCP21 board to insert it into the new YCP21 board.

ibration data) saved in the external memory device.

before alarm occurred.

currence status (operating procedure).

currence status (operating procedure).

∙(In case of Mǁ communications last station) Terminator

∙24V power of the corresponding I/O module

currence status (operating procedure).

Alarm Alarm Name SUB- Meaning Cause Remedy

(2) If the alarm occurs again, replace the EAXA21 board.

Save the CMOS.BIN before replace the board to be safe.

currence status (operating procedure).

nal memory device.

nal memory device.

nal memory device.

nal memory device.

nal memory device.

currence status (operating procedure).

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

ure YCP21 board to insert it into the new YCP21 board.

ure YCP21 board to insert it into the new YCP21 board.

ure YCP21 board to insert it into the new YCP21 board.

ure YCP21 board to insert it into the new YCP21 board.

ure YCP21 board to insert it into the new YCP21 board.

before alarm occurred.

before alarm occurred.

mode, and then contact your YASKAWA representative about oc-

currence status (operating procedure).