Alarm and Error Codes For MRC

YASNAC MRC
Alarm & Error Codes, YASNAC MRC
MOTOMAN ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation
Notes
MOTOMAN
ROBOTICS
Alarm list
AB Page: 1
1. Alarmcodes - classing ........................... 1

Caution 1
Servopack alarm indication 2
2. Alarm codes ........................................... 3
3. Error messages- classing .................... 61
Caution 61
Skapad: 98-08-12 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\AlarmliIH.fm

Alarm list MOTOMAN
ROBOTICS
Page: 2 AB
Revision
95-11-27 First release.
Revision
97-06-02 Alarm No. 7920 to 7950 added.
Revision
98-08-12 Alarm No. 7090 to 7770 plus
alarms for each optional function added.
Skapad: 98-08-12 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\AlarmliIH.fm

MOTOMAN
ROBOTICS
Alarm and Error list
AB Alarmcodes - classing Page: 1
Alarmlist
1. Alarmcodes - classing
Alarm- and Error-codes are indicated on the P-box display.
The alarm codes are classified below.
At alarm code level 0 - 3, the servo power supply is cut.
1.1 Caution
Observe carefulness when alarm codes for the module Variable Data
(JANCD - MIF01) are handled, then this presume that the system is placed
in maintenance mode.
The module MIF01 contains the basic information involved in the software
and are kept by the battery-backup. Carelessness can cause total
memoryloss.
If the module MIF01 have to be replaced or need a more careful
examination, please contact your MOTOMAN representative before
further measures are made.
Alarm codes Alarm level Remedial action
0 xxx Level 0
serious error
1 xxx Level 1 - 2 Reset of the alarm with the reset-button or an external

2 xxx serious error signal is not possible.
Turn OFF the servo power supply before error-measure
is made.
3 xxx Level 3 Reset of the alarm with the reset-button is possible, but
serious error it´s impossible to reset with an external signal. Reset the
alarm and measure the error. Turn the servo power
supply ON.
4 xxx Level 4 - 8 Reset of the alarm with the reset-button or an external

5 xxx minor error signal is possible.
6 xxx
7 xxx
8 xxx
9 xxx Level 9
application error
Start the troubleshooting with a replacement off the board which are
indicated by the MSV-figures.
MSV-number specification are made with the last figure in the alarm code,
a number between 0 - 6, for example 1180 to 1186.
Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

Alarm and Error list MOTOMAN
ROBOTICS
Page: 2 Alarmcodes - classing AB
xxx0 = MSV01
xxx1 = MSV02
xxx2 = MSV01
xxx3 = MSV02
xxx4 = MSV01
xxx5 = MSV02
xxx6 = MSV01
1: 3: 5:
0: 2: 4: 6:
MSV-board
1.2 Servopack alarm indication

Red LED correspond servo power supply ON.
Green LED correspond each axis on the servopack and lit at servo
power supply ON.
Green LED OFF, indicate that an error has occurred in the servo motor
or in the cable bundle.
Red LED OFF, indicate that an error has occurred in the servopack or in
the cable bundle. See alarm code.
Green LED
Red LED
Red LED

MOTOMAN
ROBOTICS
AB Alarm codes Page: 3
2. Alarm codes
Alarm
Message Cause Remedial action
code
0010 CPU board w Check error of CPU board w Check the insertion of the
insertion error “provided/not” board.
0020 CPU w CPU communication test w Check the insertion of the

communication error board.
error w Replace the board.
0030 ROM error w ROM total check error. w Replace ROM.

0040 RAM error (local) w Local RAM read/write check w Check the insertion of the
error. board.
w Replace the board.
0050 RTC error w RTC interrupt error. w Check the insertion of the
board.
0060 RAM error w A bus common RAM read/ w Check the insertion of the
(A-bus common) write check error. board.
0070 RAM error w D bus 2 port RAM read/write w Check the insertion of the
(D-bus 2-port) check error. board.
0080 RAM error w S bus 2 port RAM read/write w Check the insertion of the
(S-bus 2-port) check error. board.
0090 I/O module w Communication error w Check the insertion of the

communication error between IF01 board and I/ board.
O module. w Replace the board.
0100 IAMP w Communication error w Check the connection of the

communication error between MSV board and cable.
Servopack. w Replace the Servopack.
0110 IAMP param w Write-in parameter read- w Check the connection of the
modification error back (verification) check cable.
error. w Replace the Servopack.
0120 Encoder w Communication error w Check the connection of the

communication error between MSV board and cable.
encoder. w Replace the encoder.
0130 Encoder w Encoder fault. w Replace the encoder.
overspeed
0131 Encoder data error w Encoder fault. w Replace the encoder.
0132 Encoder back-up error w Encoder internal data w Replace battery.

destroyed. w Perform zero-point positioning.
0133 Encoder checksum w Encoder internal data w Replace battery.

error destroyed w Perform zero-point positioning.

ROBOTICS
Page: 4 Alarm codes AB
Alarm
code
0134 Encoder battery error w Voltage for battery dropped w Replace battery
0135 Encoder overheat w Overheat of encoder. w Cool the encoder

0200 Fault (parameter) w Parameter file total check w Initialize the parameter again
error
0210 Fault (system w Total check error of the sys- w Execute system configuration
config-data) tem configuration data again
0220 Fault (job w Job management data total w Initialize the job again
management data) check error.
0230 Fault (CIO ladder) w CIO ladder data total check w Initialize the CIO ladder data
error. again
0240 Fault (Application w Turbo application program w Initialize Turbo application

program) program
0250 Fault (ME-NET data) w ME-NET data error w Initialize ME-NET data
(Customer maintenance)
0300 Verify error w Parameter does not match w Initialize the parameter again.
(system config-data) system configuration.
0310 Verify error w Parameter setting is larger w Change the parameter.

(CMOS memory size) than the mounted CMOS
memory capacity.
0320 Verify error w Parameter setting does not w Change the parameter.
(I/O module) match the mounted I/O
module.
0330 Illegal parameter w Parameter setting value w Change the parameter.

range exceeded.
(Servopack type) match the mounted servo-
pack type.
(encoder type) match the mounted
encoder type.
0360 Verify error w Incorrect parameter setting. w Change the parameter.
(application)
0370 Verify error w Incorrect parameter setting. w Change the parameter.

(sensor function)
0400 Parameter transmission w A fault occurred at the inter- w Turn OFF the power and then
error nal control check. turn it ON again.
w For maintenance alarm code,
contact your
MOTOMAN repres.

MOTOMAN
ROBOTICS
Alarm
code
0410 Mode change error w A fault occurred at the inter- w Turn OFF the power and then
nal control check. turn it ON again.
contact your
MOTOMAN repres.
0420 Application program. w A fault occured upon turbo w Turn OFF the power and then
transmission error program application trans- turn it ON again.
mission w For maintenance alarm code,
contact your
MOTOMAN repres.
0900 Watch dog timer error w Fault at MCP02 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0901 Watch dog timer error w Reserved w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0902 Watch dog timer error w Fault at MSL#1 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0903 Watch dog timer error w Fault at MSL#2 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
0906 Watch dog timer error w Fault at MCP01 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.

ROBOTICS
Alarm
code
0907 Watch dog timer error w Fault at MIF01 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0910 Watch dog timer error w Fault at MSV#1 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.

MOTOMAN
ROBOTICS
Alarm
code
0920 Watch dog timer error w Fault at MIF02 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0930 Access error w Fault at MIF02 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0931 Access error w Reserved w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0932 Access error w Fault at MSL#1 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0933 Access error w Fault at MSL#2 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
0936 Access error w Fault at MCP01 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0937 Access error w Fault at MIF01 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.

ROBOTICS
Alarm
code
0940 A-bus error w Fault at MCP02 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0941 A-bus error w Reserved w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0942 A-bus error w Fault at MSL#1 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0943 A-bus error w Fault at MSL#2 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
turn it ON again.
contact your
MOTOMAN repres.
0946 A-bus error w Fault at MCP01 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0947 A-bus error w Fault at MIF01 w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.
0999 NMI error w MNI error occurred w Turn OFF the power and then
turn it ON again.
contact your
MOTOMAN repres.

MOTOMAN
ROBOTICS
Alarm
code
1000 Non-defined error A non-defined alarm occured w For maintenance alarm code,
contact your
MOTOMAN repres.
Alarm
Message Cause Remedial Action
code
1010 ROM error (Syscon) w System control section CPU w Replace ROM board (MMM02)
ROM check error for system control.
1020 ROM error (motion) w Motion section CPU ROM w Replace ROM board (MM04)
1021 [Decimal Data] check error. for motion.
1022
1030 ROM-error (CIO) w Concurrent I/O section CPU w Replace ROM board (MIF01)
ROM check error. for concurrent I/O.
1040 System error (Syscon) w The system is w Turn OFF the power and then
[Decimal Data] malfunctioning. turn it ON again.
contact your
MOTOMAN repres.
1050 ROM error w Sensor CPU ROM check w Turn OFF the power and then
1051 (sensor) error. turn it ON again.
[Decimal Data]
1060 System error (CIO) w The system is w Turn OFF the power and then
[Binary Data] malfunctioning. turn it ON again.
w Replace MIF01 board.
contact your
MOTOMAN repres.
1070 Fault (parameter) w Parameter total check error w Turn OFF the power and then
[Decimal Data] over CMOS. turn it ON again.
Data = Parameter types contact your
MOTOMAN repres.
1080 Fault (job data) w Job control block. w Turn OFF the power and then
[Decimal Data] w Job block directory total turn it ON again.
check error. w For maintenance alarm code,
contact your
MOTOMAN repres.
1090 File failure (motion) w Various file total check error. w Turn OFF the power and then
1091 [Decimal Data] turn it ON again.
1092 w For maintenance alarm code,
contact your
MOTOMAN repres.

ROBOTICS
Alarm
code
1100 File total checksum w Various internal data total w Turn OFF the power and then
1101 error (motion) check error. turn it ON again.
1102 [Decimal Data] w For maintenance alarm code,
contact your
MOTOMAN repres.
1110 Set-up process error w A fault occurred in the set w Turn OFF the power and then
(syscon) up process. turn it ON again.
[Decimal Data] Data 1: Motion section set w Replace MCP02 board.
up incomplete. w For maintenance alarm code,
contact your
MOTOMAN repres.
1120 Wrong segment clock w Segment clock data set in w Load same system file.
1121 value the system and in phase
[Decimal Data] compensation file are differ-
ent.
1130 MMM error w A fault occurred at the inter- w Turn OFF the power and then
[Decimal Data] nal control check. turn it ON again.
contact your
MOTOMAN repres.
1140 MMM error w A fault occurred at the inter- w Turn OFF the power and then
[Decimal Data] nal control check. turn it ON again.
contact your
MOTOMAN repres.
1150 Fault w A fault occurred at the inter- w Turn OFF the power and then
1151 [Decimal Data] nal control check. turn it ON again.
contact your
MOTOMAN repres.
1160 High temperature ___________________ _____________________

(in ctrl box)
1170 Overrun limit switch w Limit switch recovery switch w Check for the limit switch recov-
released operated during playback. ery switch.
1180 Servo monitor w Monitor CPU for servo w Turn OFF the power and then
1181 system error (MSV) is abnormal. turn it ON again.
1182 [Decimal Data] w Replace MSV01 (MSV02)
1183 See the beginning board.
1184 concerning MSV-number. w Replace MCP01 or MCP02
1185 board.
1186

MOTOMAN
ROBOTICS
Alarm
code
1190 Servo system error w DSP for servo (MSV) is w Turn OFF the power and then
1191 [Decimal Data] abnormal. turn it ON again.
1192 w Replace MSV01 or (MSV02)
1194 concerning MSV-number w Replace MCP01 or MCP02
1195 board.
1196 w Check the command cable.
1200 Overcurrent w Control board fault. w Turn OFF the power and then
1201 [Axis Data] w Power supply turn it ON again.
1202 feedback circuit fault. w Replace the servopack.
1203 w Main circuit transistor mod- w Replace the motor.
1204 ule fault or overheat. w Check the grounding.
1205 w Motor grounding w Check the wiring.
1206
See the beginning
concerning MSV-number
1210 MCCB tripped w Control board fault. w Replace the servopack.

1211 Faulty machine w Main circuit thyristor/diode w Check for disconnection of
1212 [Axis Data] mixed module fault. wiring lead in the servopack
1213 (when MCCB is turned ON).
1214 See the beginning w Check the motor grounding if
1215 concerning MSV-number alarm occurs when the servo is
1216 turned ON.
1220 Ground fault w Servopack fault. w Replace the servopack.

1221 Faulty machine w Motor power line grounding w Check the grounding.
1222 [Axis Data] fault. (some certain section) w Check grounding where the
1223 alarm occurs.
1224 See the beginning
1225 concerning MSV-number
1226
1230 Defective current offset w Servopack fault. w Replace the servopack.

1231 [Axis Data] w Parameter of servopack
1232 fault.
1233
1236
1240 Encoder transmission w Transmission error between w Turn OFF the power and then
1241 error encoder and MSV board. turn it ON again.
1242 [Axis Data] w Replace the encoder.
1243 See the beginning w Replace MSV01(MSV02)
1244 concerning MSV-number board.
1245 w Remove noise and check the
1246 wiring.

ROBOTICS
Alarm
code
1250 Defective encoder w Encoder internal data fault. w Replace the encoder.
1251 internal data w Damaged r/min data or
1252 [Axis Data] internal status data.
1253
1256
1260 Defective encoder w Encoder pulse detecting w Replace the encoder.

1261 absolute data section fault.
1262 [Axis Data]
1265
1266
1270 Encoder overheat w Encoder section overheat. w Cool the encoder.

1271 [Axis Data] w Review the load.
1274
1275
1276
1280 Servo monitor w Transmission error between w Turn OFF the power and then
1281 transmission error the monitor CPU for servo turn it ON again.
1282 [Axis Data] (MSV) and the servopack. w Replace MSV01(MSV02)
1283 w MSV board fault. board.
1284 w Replace the servopack.
1285 See the beginning w Recheck the wiring and connec-
1286 concerning MSV-number. tors.
1290 Servo CPU w Servo (MSV) CPU is w Turn OFF the power and then
1291 synchronizing error abnormal. turn it ON again.
1292 w Internal control clock is w Replace MSV01(MSV02)
1293 abnormal. board.
1294 w Replace MCP01 or MCP02
1296 concerning MSV-number. w Perform the counter-measure
against noise.
1300 DSP Program check- w Check error of DSP pro- w Turn OFF the power and then
1301 sum error gram PROM for servo (SV) turn it ON again.
1302 w Replace MSV01 (MSV02)
1304 concerning MSV-number.
1305
1306

MOTOMAN
ROBOTICS
Alarm
code
1310 Mon prgm total check- w Check error of monitor CPU w Turn OFF the power and then
1311 sum error program PROM for servo turn it ON again.
1312 (SV) w Replace MSV01 (MSV02)
1313 board.
1316
1320 Servopack failure w The servopack mechanism w Turn OFF the power and then
1321 [Axis Data] malfunctioned turn it ON again.
1322 w No fault occurs with the ser- w Replace he servopack.
1323 vopack failure signal ON. w Check the command cable.
1330 Position error w Control board fault. w Replace the servopack.

1331 [Axis Data] w Wrong connection to abso- w Turn OFF the power and then
1332 lute encoder. turn it ON again.
1333 w Malfunction of internal PG w Check the counter-
1334 pulse counter. measure against noise.
concerning MSV-number. w Replace the enconder.
1340 Overload 1 w Control board fault. w Replace the servopack.

1341 [Axis Data] w Load exceeded to 105 to w Review load.
1342 130% of rated load. w Correct the wirings.
1343 w Motor circuit wrongly con- w Check the motor circuit.
1344 nected, wrong U-V, V-W, W- w Replace MSV01(MSV02)
1345 U connections or one- board.
1346 phase open.
See the beginning

concerning MSV-number.
1350 Overload 2 w Control board fault. w Replace the servopack.

1351 [Axis Data] w Load exceeded to 105 to w Review load.
1352 130% of rated load. w Correct the wirings.
1353 w Motor circuit wrongly con- w Check the motor circuit.
1354 nected, wrong U-V, V-W, W- w Replace MSV01(MSV02)
1355 U connections, n-phase board.
1356 connection or one-phase
open.
See the beginning


ROBOTICS
Alarm
code
1360 Broken PG line w Cable disconnection or w Check that the PG cable

1361 [Axis Data] imperfect connector con- mounted on the motor side and
1362 tact between the axis the cable between MSV01 are
1363 encoder and the MSV01 connected properly.
1364 board. w Replace the MSV01 (MSV02)
1365 w PG disconnection in servo- board.
1366 pack. w Replace the servopack.
See the beginning

1370 Over speed w Abnormal speed (The num- w Replace MSV01(MSV02)

1371 [Axis Data] ber of PG pulses for a board.
1372 certain time increase w Review the job where the alarm
1373 abnormally). occurs.
1374
1380 Servo tracking error w Excessive load is applied to w Check for excessive load in the
1381 [Axis Data] the faulty mechanism axis. mechanical system of the faulty
1382 w A fault occurs on he servo axis.
1383 system. (Deviation pulse w Replace MSV01(MSV02)
1384 becomes abnormal). board.
1385 w Check the motor power line
1386 See the beginning connection.
concerning MSV-number. w Replace the servopack.
w Review the job where the alarm
occurs.
1390 Speed error w Abnormal speed occurs in w Replace MSV01(MSV02)

1391 (monitor) the faulty mechanism (the board.
1392 [Axis Data] number of PG pulses for a w Review the job where the alarm
1393 certain time increases occurs.
1394 abnormally).
1395
1420 Fault (Laser File) w Laser file fault w Turn OFF the power and then
[file categories] turn it ON again.
contact your
MOTOMAN representative.
1430 Synchronizing error w Connection error at w Turn OFF the power and then
1431 (MSL02 CPU) MSL02or a fault occured at turn it ON again.
[decimal data] the internal control check. w For maintenance alarm code,
contact your

MOTOMAN
ROBOTICS
Alarm
code
1440 System error w Connection error at w Turn OFF the power and then
1441 (MSL02 CPU) MSL02or a fault occured at turn it ON again.
[decimal data] the internal control check. w For maintenance alarm code,
contact your
1450 Sytem error (TURBO) w For maintenance alarm code,

contact your
1460 Interrupt error (TURBO) w For maintenance alarm code,
contact your
1470 Command error w For maintenance alarm code,

(TURBO) contact your
1480 ME-NET communica- w ME-NET communication w Turn OFF the power and then
tion CPU error CPU error. turn it ON again.
[decimal data] w Replace the communication
control board.
1490 ME-NET system error 1 w Significant error at MSC02 w Turn OFF the power and then
[decimal data] board during communica- turn it ON again.
tion process. w Replace MSC02 board.
1500 Command response w For maintenance alarm code,

error contact your
[decimal data] MOTOMAN representative.
1510 MINI-PP communica- w For maintenance alarm code,

1511 tion error contact your
1520 Broken programming w For maintenance alarm code,
pendant line contact your
1590 Rom error ROM data destroyed If the control power supply is
turned ON again and the alarm
(Ethernet) still occurs, please contact
MOTOMAN service

ROBOTICS
Alarm
code
3000 Not ready for servo w Servopack fault. w Turn OFF he power and then
3001 system w Disconnection of command turn it ON again.
3002 [Axis Data] cable. w Check the wiring between the
3003 MSV01 board and the faulty
3004 See the beginning servopack.
3005 concerning MSV-number. w Check that the main circuit
3006 power supply is turned ON.
w Check the primary side power
supply voltage.
(Maximum: 220V +10%)
w Check LED-indication on resp.
servopack, see the beginning
part of this booklet.
3010 Servo ON w Motor is operating at the w Review the servo ON timing.

3011 defective speed wrong speed at servo ON. w Investigate the cause of mov-
3012 [Axis Data] (For example, servo ON ing.
3013 during DB stop.) w Replace MSV01 (MSV02)
3014 w Fault of monitor CPU for board.
3015 servo (MSV). w Check the brake.
3016
See the beginning
3020 Servo on w DB OFF of servopack at wTurn OFF the power and then
3021 defective DB servo ON does not work turn it ON again.
3022 [Axis Data] well. w Replace the servopack.
3023 w Fault of monitor CPU for
3024 servo (MSV)
3025
3030 Regenerative Detects a regenerative circuit w Replace the servopack.

3031 trouble fault such as a regenerative w Check the regenerative resistor
3032 [Axis Data] transistor shortcircuit, or and replace the servopack.
3033 regene-rative registor discon- w Review the operating condition.
3034 nection, etc.
3035 w Control board fault.
3036 w Regenerative transistor fault
w Regenerative resistor
disconnection.
See the beginning


MOTOMAN
ROBOTICS
Alarm
code
3040 Overvoltage Detects when the main circuit w Check machine side inertia in
3041 [Axis Data] power supply exceeds the motor axis conversion.
3042 allowable value because of w Replace the servopack.
3043 insufficient regenerative pro- w Check the primary side power
3044 cess or excessive regenera- supply voltage.
3045 tion. (Maximum: 220V +10%).
3046 Detection voltage: w Review the operating condition.
400 to 420V.
w Load inertia is too large
w Regenerative processing
circuit fault.
w Power supply voltage is too
large.
See the beginning

3050 Voltage drop Detects when the main circuit w Check the primary side power
3051 [Axis Data] power supply be-comes 150V supply voltage.
3052 or less in order to prevent the Minimum: 200V - 5%.
3053 motor from abnormal rotation w Replace the servopack.
3054 caused by re-duction of the
3055 main circuit power supply
3056 during motor driving.
w Main circuit power supply
reduction, open phase.
w Main circuit thyristor/diode
mixed module fault.
See the beginning

3060 Heat sink overheat w Main circuit transistor circuit w Replace the servopack.
3061 [Axis Data] in the servopack overheat.
3062
3065
3066
3070 Servo blown fuse Detects that power 1C is w Correct the motor main circuit
3071 [Axis Data] shortcircuited (when power wiring manually.
3072 1C is shortcircuited, the main w Replace the servopack.
3073 circuit power supply breaks
3074 down and the fuse is blown).
3075
3076 w Motor wiring short-
circuit grounding fault.
w Control board fault.
See the beginning


ROBOTICS
Alarm
code
3080 Broken current ref cable w Disconnection of cable w Cable check, connection
3081 [Axis Data] between MSV01 board and check.
3082 servopack. w Replace the servopack.
3083
3086
3090 Open phase w Disconnection of main cir- w Cable check, connection

3091 [Axis Data] cuit R, S and T check.
3092
3095
3096
Alarm
code
4000 Not ready (Arith) w A fault occured at the inter- w After alarm reset, execute the
4001 [Decimal Data] nal control check. operation again.
contact your
MOTOMAN repres.
4010 Cur position set w A fault occured at the inter- w After alarm reset, execute the
prog. error nal control check. operation again.
[Decimal Data] w For maintenance alarm code,
contact your
MOTOMAN repres.
4020 Servo power ON w A fault occured at the inter- w After alarm reset, execute the
4021 sequence error nal control check. operation again.
contact your
MOTOMAN repres.
4030 Servo power OFF w A fault occured at the inter- w After alarm reset, execute the
4031 sequence error nal control check. operation again.
contact your
MOTOMAN repres.
4040 Home calibration error w When positioning at home w After alarm reset, execute the
4041 [Decimal Data] position, there is an axis home positioning again.
4042 where the home position is w Replace MCP02 board or MSV
not registered board.
4050 Abso data change error w There is an axis where the w After alarm reset, execute the
4051 [Decimal Data] home position change home position change opera-
4052 operation (absolute data tion again.
change) is not completed. w Replace MCP02 board or MSV
board.

MOTOMAN
ROBOTICS
Alarm
code
4060 Segment data output w A fault occured at the inter- w After alarm reset, execute the
4061 error nal control check. operation again.
contact your
MOTOMAN repres.
4070 Axis parameter error w Improper S1D, S2D para- w Check S1D and S2D para-
4071 [Decimal Data] meter setting. meter.
4072
4080 Table parameter error w Improper S1D, S2D para- w Check S1D and S2D para-
4081 for atcl axis meter setting. meter.
4082 [Decimal Data]
4090 Sequence task contr. w A fault occured at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.
4100 Data refresh error w A fault occured at the inter- w After alarm reset,
4101 [Decimal Data] nal control check. execute the operation again.
contact your
MOTOMAN repres.
4110 Undefined command w A fault occured at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.
4120 System error (Arith) w A fault occured at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.
4130 Arithmetic error w A fault occured at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.
4140 Select error (Parame- w A fault occured at the inter- w After alarm reset, execute the
4141 ter) nal control check. operation again.
contact your
MOTOMAN repres.
4150 Group axis control error w A fault occured at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.

ROBOTICS
Alarm
code
4160 Two steps same posi- w Two or more of the three w After alarm reset, program in
4161 tion instructed points are the three different points.
4162 (CIRC) same.
4172 (SPLINE) same.
4182 (3 STEPS) same.
(Data such as calibration
between user coordinate
and robot).
4190 Two steps same posi- w Weaving reference point w After alarm reset, program in
4191 tion and wall point are same. three different points.
4192 (WEAV)
4200 Teach error w Distance between instructed w Provide instructions so that the
4201 (SPLINE) points is not correct. distance between the instruc-
4202 tion points will be correct.
4210 Impossible linear w Operation disabled if the w Set the forms of axes L and U
4211 motion forms of axes L and U differ and provide a new instruction.
4212 (L/U) at the starting and ending
points in interpolation
(except MOVJ).
4220 Impossible linear w Operation disabled if the w Set the forms of axes S and L
4221 motion forms of axes S and L differ and provide a new instruction.
4222 (S/L) at the starting and ending
points in interpolation
(except MOVJ).
4230 Excessive w The specified speed w After alarm reset, decrease the
4231 segment exceeds the motor rated speed of the step (move com-
4232 (Low Speed) r/min. mand) where the alarm
Axis Data] occured or change the robot
position.
4240 Excessive w The specified speed w After alarm reset, decrease the
4241 segment exceeds the motor rated speed of the step (move com-
4242 (High Speed) r/min. mand) where the alarm
[Axis Data] occured or change the robot
position.
4250 Pulse limit (min.) w The minimum pulse soft w Release the alarm and give
4251 [Axis Data] limit was exceeded. another instruction.
4252
4260 Pulse limit (max.) w The maximum pulse soft w Release the alarm and give
4262

MOTOMAN
ROBOTICS
Alarm
code
4270 Cube limit (min.) w The minimum cubic soft limit w Release the alarm and give
4271 [XYZ] was exceeded. another instruction.
4272
4280 Cube limit (max.) w The minimum cubic soft limit w Release the alarm and give
4281 [XYZ] was exceeded. another instruction.
4282
4290 Special softlimit (min.) w The minimum special soft w Release the alarm and give
4292
4300 Special softlimit (max.) w The maximum special soft w Release the alarm and give
4302
4310 Mechanical w The axes of the machine w After alarm reset, provide
4311 interference (min.) (displayed reversely) inter- another instruction.
4312 [Axis Data] fere with each other.
4320 Mechanical w The axes of the machine w After alarm reset, provide
4321 interference (max.) (displayed reversely) inter- another instruction.
4330 Special mechanical w The axes of the machine w After alarm reset, provide
4331 intrf. (min.) (displayed reversely) inter- another instruction.
4340 Special mechanical w The axes of the machine w After alarm reset, provide
4341 intrf. (max.) (displayed reversely) inter- another instruction.
4350 Pulse mechanical limit w The machine exceeds pulse w After alarm reset, provide
4351 (min.) soft limit. another instruction.
4352 [Axis Data]
4360 Pulse mechanical limit w The machine exceeds pulse w After alarm reset, provide
4361 (max.) soft limit. another instruction.
4362 [Axis Data]
4370 Station axis data input w An error occurred at the w After alarm reset, execute the
4371 error internal control check. operation again.
contact your
MOTOMAN repres.
4380 Segment control error w An error occurred at the w After alarm reset, execute the
4381 [Decimal Data] internal control check. operation again.
contact your
MOTOMAN repres.
4390 Sub-segment control w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.

ROBOTICS
Alarm
code
4400 Wrong specified con- w An error occurred at the w After alarm reset, execute the
4401 trol group internal control check. operation again.
contact your
MOTOMAN repres.
4410 CPU communication w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4420 Failed to select over SP w An attempt to change the w After alarm reset, provide
4421 level overspeed level at an axis, another instruction.
4422 [Decimal Data] the level was not changed
as indicated.
Data: 1 Change
permission status fault
Data: 2 During axis pro-
cessing
Data: 3 Axis process not
completed.
4430 Averaging number w An attempt was made to w After alarm reset, execute the
4431 change error change the number of aver- operation again.
4432 [Decimal Data] aging times to an axis, the w Turn OFF the power supply and
number was not changed then turn i ON again.
as indicated. w Replace the MSV01 (MSV02)
Data: 1 Change board.
permission status fault
cessing
completed.
4440 Torque limit change w An attempt to change the w After alarm reset, execute the
4441 error torque limit value was made operation again.
4442 [Decimal Data] to an axis, the value was w Turn OFF the power supply and
not changed as indicated. turn it ON again.
Data: 1 Change w Replace the MSV01 (MSV02)
permission status fault board.
cessing
completed.
4450 JMS-Error w An error occurred at the w After alarm reset, execute the
4453 contact your
MOTOMAN repres.

MOTOMAN
ROBOTICS
Alarm
code
4460 JMH-Error w An error occurred at the w Turn OFF the power and then
4461 [Decimal Data] internal control check. turn i ON again.
contact your
MOTOMAN repres.
4470 Instruction interpreter w An error occurred at the w Turn OFF the power and then
4471 error internal control check. turn i ON again.
contact your
MOTOMAN repres.
4480 Undefined global vari- w The global variable range is w After setting the parameter
4481 able not defined (SID parame- again, turn OFF the power
4482 [Decimal Data] ter). supply and turn it ON again.
4490 Var-scoreboard control w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4500 Undefined local- w Local-variable is not w Set the local-variable to the job
4501 variable defined. header.
4502 [Decimal Data]
4510 Less than 3 steps w Less than three circular w After alarm reset, provide an
4511 (Circular) steps are provided instruction so that more than
4512 [Decimal Data] continuously. three steps can be provided
continuously.
4520 Less than 3 steps w Less than three spline steps w Reteach three or more steps
4521 (Spline) are provided continuously. continuously for spline interpo-
4522 lation.
4530 Undefined job w Job is not registered. w After alarm reset, register the
4531 [Decimal Data] job. Or delete the JUMP or
4532 CALL instruction where the
alarm occurs.
4540 Undefined label w There is no label in the job w After alarm reset, register the
4541 [Decimal Data] under execution. label. Or delete the JUMP or
4542 CALL instruction where the
alarm occurs.
4550 Undefined return job w There is no return in job call/ w After alarm reset, execute from
4551 [Decimal Data] stack. the master job. Or delete the
4552 RET instruction.
4560 Lack of local-variable w Local variable in the job has w Decrease the use of the local
4561 area been used excessively. variable.
4562 [Decimal Data]

ROBOTICS
Alarm
code
4570 Local-variable control w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4580 Job call stack error w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4590 Feedback pulse making w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4600 Unsuccessful fine w Interface fault with axis w After alarm reset, execute the
4601 posioning board. operation again.
4602 [Decimal Data] w Turn OFF the power supply and
turn it ON again.
w Replace MSV01 (MSV02)
board.
contact your
MOTOMAN repres.
4610 Pending block-end w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4620 Data preset error w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4630 Variable data type error w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4640 Over variable limit w Exceeds the numerical w Select the variable so as not to
4641 [Decimal Data] value range of the variables exceed the
4642 in the place where the data numerical value range.
is stored.
4650 Defective taught point w A line connecting three cir- w After alarm reset, provide
4651 (CIRC) cular points is linear. another instruction.
4652

MOTOMAN
ROBOTICS
Alarm
code
4660 Weaving control error w An error occurred at the w After alarm reset, execute the
contact your
MOTOMAN repres.
4670 Overrun in robot axis w Either robot overrun limit w Refer to the releasing method
switch operates. at overrun.
4671 Overrun in external axis w Either station overrun limit w Refer to the releasing method
switch operates. at overrun.
4680 Fault (Tool file) w Total check error of tool file w After alarm reset, execute the
[File No.] on CMOS. operation again.
Data=File No. contact your
MOTOMAN repres.
4690 Fault (User frame file) w Total check error of user file w After alarm reset, execute the
on CMOS. operation again.
[File No.] w For maintenance alarm code,
MOTOMAN repres.
4700 Fault w Total check error of signal w After alarm reset, execute the
(Servo mon signal file) file for servo monitor on operation again.
CMOS. w For maintenance alarm code,
contact your
MOTOMAN repres.
4710 Fault (Weaving file) w Total check error of weaving w After alarm reset, execute the
file on CMOS. operation again.
[File No.] w For maintenance alarm code,
MOTOMAN repres.
4720 Fault (Home posn. w Total check error of home w After alarm reset, execute the
ABS-data file) position absolute data file operation again.
on CMOS. w For maintenance alarm code,
contact your
MOTOMAN repres.
4730 Fault w Total check error of second w After alarm reset, execute the
(Specified-point data) home position file on operation again.
CMOS. w For maintenance alarm code,
contact your
MOTOMAN repres.
4740 Posn. file data read-out w A fault occurred at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.

ROBOTICS
Alarm
code
4750 Unmatched posn. var w The type of the data in data w Use the same data type (pulse/
4751 data type storage (pulse/orthogonal) orthogonal).
4752 [Binary data] is different from the type of
the data to be stored.
4760 File no. error w A fault occurred at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.
4770 Undefined reference w Reference point is not regis- w Register the reference point.
4771 point tered. Or insufficient refer-
4772 [Binary Data] ence points are registered.
4780 Stack more than 8 w Stack for job call exceeded. w After alarm reset, change the
4781 (Job Call) job to reduce job call nesting.
4782
4790 Arithmetic section w A error occurred at the inter- w After alarm reset, execute the
4791 request error nal control check. operation again.
contact your
MOTOMAN repres.
4800 Request-to-send error w A error occurred at the inter- w After alarm reset, execute the
contact your
MOTOMAN repres.
4810 Over variable no. w Variable NO. exceeds the w Change the job.
4811 limit.
4812
4820 Position data w An error occurred at the w After alarm reset, execute the
4821 management error internal check. operation again.
4823 contact your
MOTOMAN repres.
4830 Undefined welder con- w Welding machine character- w Complete the setting of welding
4831 dition file istic file is not set. machine characteristic file.
4832 [Decimal Data]
4840 Undefined arc start w Welding machine character- w Complete the setting of welding
4841 cond. file istic file is not set. start condition file.
4842 [Decimal Data]
4850 Undefined arc end w Welding machine character- w Complete the setting of welding
4851 cond. file istic file is not set. end condition file.
4852 [Decimal Data]
4860 Wrong welder selection w Welding voltage reference w Match the welding voltage ref-
4861 unit and welding machine erence unit.
4862 power supply type do not
match.

MOTOMAN
ROBOTICS
Alarm
code
4870 Fault (Welder w Total check error of welding w After alarm reset, execute the
condition file) machine characteristic file operation again.
[Decimal Data] on CMOS. w For maintenance alarm code,
MOTOMAN repres.
4880 Fault (Arc start condi- w Total check error of welding w After alarm reset, execute the
tion file) start condition file on operation again.
[Decimal Data] CMOS. w For maintenance alarm code,
contact your
Data=File No. MOTOMAN represe.
4890 Fault (Arc end w Total check error of welding w After alarm reset, execute the
condition file) end condition file on CMOS. operation again.
MOTOMAN repres.
4900 Fault (Arc condition w Total check error of welding w After alarm reset, execute the
supp. file) condition auxiliary file on operation again.
contact your
Data=File No. MOTOMAN repres.
4910 AX-CPU Command w AXIS-CPU command area w After alarm reset, execute the
4911 area error is abnormal. operation again.
contact your
MOTOMAN repres.
4920 Fault (Com-Arc 3 condi- w Total check error of Com- w After alarm reset, execute the
tion file) Arc 3 condition file on operation again.
contact your
4930 Fault (Com-Arc 3 data w Total check error of Com- w After alarm reset, execute the
file) Arc 3 data file on CMOS. operation again.
MOTOMAN repres.
4940 Fault (Correction condi- w Total check error of tracking w After alarm reset, execute the
tion file) correction condition file on operation again.
contact your
4950 Fault (Phase offset data w Total check error of phase w After alarm reset, execute the
file) offset value data file on operation again.
contact your

ROBOTICS
Alarm
code
4960 System change w Data (parameter) affecting w Turn OFF the power supply and
[Decimal Data] the system has changed turn it ON again.
and the power supply ON.
Data=Changing parameter.
4970 Equation exception w A fault occurred at the inter- w After alarm reset, execute the
error nal control check. operation again.
contact your
MOTOMAN repres.
4980 Excessive instruction w The equation is excessively w Make it shorter by dividing it,
4981 equation long. etc.
4982 [Decimal Data]
4990 Encoder battery error w Battery voltage drop. w Replace the battery.

MOTOMAN
ROBOTICS
Alarm
code
5000 Encoder overheat w Encoder overheat. w Cool the encoder.
5010 Illegal parameter w Improper parameter setting. w After changing the parameter,
turn OFF the power supply and
turn it ON again.
contact your
MOTOMAN repres.
5020 Zero deviced occur- w Division is performed with 0. w Do not perform division with 0.
5021 rence
5022 [Decimal Data]
5030 Global-variable area w The total of the global vari- w Set the parameter again so that
5031 param error able range exceeds the the global variable range will
5032 allowable range (SID be within the allowable range
[Decimal Data] parameter value fault). in total.
5040 Out of range w The difference between the w Perform axis operation of the
(Abso data) position at power OFF and faulty machine and move it to
[Axis Data] ON of either machine the position of current position
exceeds the allowable “0”: check the home position
range. mark (arrow). If they do not
match, the faulty displayed
axis PG system is defective.
5060 Undefined auto-weld w Arc auxiliary file welding w Set the number again and exe-
5061 release cond release condition time is 0. cute the operation again.
5062 [Decimal Data]
5070 Undefined position for w Arc retry is set and there is w Set a move instruction after
5071 arc retry no move instruction after ARCON.
5072 [Decimal Data] ARCON.
5080 Overspeed limit w Overspeed detection oper- w Check the setting for speed
5081 ates at speed checking checking board (JANCD-
5082 board. MFC04) and execute the oper-
ation again.
5090 DC 24V power supply w External 24V power supply w Check the external 24V power
failure does not output. supply system.
5100 Shock sensor action w Shock sensor operates. w Check the shock sensor
operating factor.
5110 Brake fuse blown w Brake fuse is blown. w Replace the fuse.
5120 Parity error w Universal I/O group has par- w Examine some actions to pre-
5121 ity error. vent a parity error.
5122

ROBOTICS
Alarm
code
5130 Over BCD range w The variable value w Set the data again so as not to
5131 attempted to be output exceed the range.
5132 exceeds the maximum w Review the data specification
value in BCD range (binary/BCD) and parity check
[99 (Decimal) for no specification.
parity, 79 (Decimal) for par-
ity]
Or attemped to read unrep-
resentable data in BCD
range (exceeded nine at
four bits at hypostasis or
epistasis).
5140 Over binary range w The parity check is com- w Set the data gain so as not to
5141 (Parity check) manded and the variable exceed the range.
5142 value exceeded 127 w Release parity check
(Decimal): it was attempted setting.
to be output as an universal
output.
5150 Offline undefined com- w An error occurred at the w After alarm reset, execute the
5151 mand (Arith) internal control check. operation again.
contact your MOTOMAN
repres.
5160 Offline system error w An error occurred at the w After alarm reset, execute the
5161 (Arith) internal control check. operation again.
repres.
5170 Robot calibration data w An error occurred at the w After alarm reset, execute the
repres.
5180 Robot calibration frame w An error occurred at the w After alarm reset, execute the
repres.
5190 Arithmetic section init w An error occurred at the w After alarm reset, execute the
repres.
5200 Set-up process error w An error occurred at the w After alarm reset, execute the
5201 (motion) internal control check. operation again.
repres.

MOTOMAN
ROBOTICS
Alarm
code
5210 System error (Motion) w An error occurred at the w After alarm reset, execute the
repres.
5220 Servo ready w An error occurred at the w After alarm reset, execute the
5221 monitoring error internal control check. operation again.
repres.
5230 Calibration data error w An error occurred at the w After alarm reset, execute the
repres.
5240 Tool calibration data w An error occurred at the w After alarm reset, execute the
repres.
5250 Fault w File total check error of cali- w After alarm reset, execute the
(Robot calibration file) bration between robots on operation again.
Data=File No. repres.
5260 Fault w File total check error of cali- w After alarm reset, execute the
(Tool calibration file) bration of tool on CMOS. operation again.
repres.
5270 Fault w File total check error of w After alarm reset, execute the
(Arc start cond guide welding start condition operation again.
file) guide on CMOS. w For maintenance alarm code,
repres.
(Arc end cond guide welding end condition guide operation again.
file) on CMOS. w For maintenance alarm code,
repres.
(Welder user-defined welder characteristic initial operation again.
file) guide on CMOS. w For maintenance alarm code,
Data=File No. repres.

ROBOTICS
Alarm
code
5300 Fault (Ladder program w File total check error of lad- w After alarm reset, execute the
file) der program on CMOS. operation again.
repres.
5310 Arithmetic alarm reset w An error occurred at the w After alarm reset, execute the
repres.
5320 Wrong control group w A jump call was made to a w Call job to the control group
5321 axis job which is different from which is same or includes the
5322 [Decimal Data] the control group. control group to be called.
5330 Cannot execute job (No w Robot is not included in the w Add a robot to the job control
5331 robot) regulated control group of group.
5332 [Decimal Data] the job at execution of an
instruction such as ARLON,
WVON, etc.
5340 Sensing data request w An error occurred at the w After alarm reset, execute the
repres.
5350 Main contactor ON w At servo ON, the information w After alarm reset, execute the
5351 reply error that the servo was ON did operation again.
5352 [Decimal Data] not arrive in the main factor. w Replace the RY board.
5360 Main contactor OFF w At servo OFF, the informa- w After alarm reset, execute the
5361 reply error tion that the servo was OFF operation again.
5362 [Decimal Data] did not arrive in the main w Replace the RY board.
factor.
5370 Braking lock replay w Brake is not turned ON. w After alarm reset, execute the
5371 error operation again.
5372 [Decimal Data] w Replace the RY board.
5380 Braking release reply w Brake is not turned OFF. w After alarm reset, execute the
5381 error operation again.
5382 [Decimal Data] w Replace the RY board.
5390 Servo-ready ON error w At servo ON, input signal w Check the connection cable
5391 [Decimal Data] servo READY from the between each servopack and
5392 servo is not turned ON. controller.
w Replace the servopack.
w Check that the power line to the
motor is not grounded.

MOTOMAN
ROBOTICS
Alarm
code
5400 Servo-ready OFF error w At the external servo OFF, w Check the connection cable
5401 [Decimal Data] input signal servo READY between each servopack and
5402 from the servo is not turned controller.
ON after the servotacter w Replace the servopack.
has been turned OFF. w Check that the power line to the
motor is not grounded.
5410 Base-block ON error w Baseblock is not turned ON w After alarm reset, execute the
5411 [Binary Data] at the servo OFF. operation again.
5412 w Replace the MSV01 (MSV02)
board.
5420 Base-block OFF error w Baseblock is not turned w After alarm reset, execute the
5421 [Binary Data] OFF at the servo OFF. operation again.
board.
5430 Dynamic brake ON w Dynamic brake is not turned w After alarm reset, execute the
5431 error ON. operation again.
5432 [Binary Data] w Replace the MSV01 (MSV02)
board.
5440 Dynamic brake OFF w Dynamic brake is not turned w After alarm reset, execute the
5441 error OFF. operation again.
5442 [Binary Data] w Replace the MSV01 (MSV02)
board.
5450 Unused (ON) w An error occurred at the w After alarm reset, execute the
repres.
5460 Unused (OFF) w An error occurred at the w After alarm reset, execute the
repres.
5470 Cannot edit (Edit lock w An attempt to override an w Replace edit lock setting.
5471 job) editing lock job was made.
5472 [Decimal Data]
5480 Select error w System setting does not w For maintenance alarm code,
5481 (Application 1) match. contact your MOTOMAN
5482 [Decimal Data] repres.
5491 (Application 2) match. contact your MOTOMAN
5501 (Sensor 1) match. contact your MOTOMAN

ROBOTICS
Alarm
code
5511 (Sensor 2) match. contact your MOTOMAN
5520 Wrong port no. (Analog w System setting does not w For maintenance alarm code,
5521 output) match. contact your MOTOMAN
5530 Pass over w The path exceeded the set w Release the factor of path-over.
5531 [Decimal Data] path-over monitoring area. w Set the path-over radius again
5532 so that it will be within the
allowable range.
5540 Wrong selection w System setting does not w For maintenance alarm code,
5541 (Sensor) match. contact your MOTOMAN
5550 Wrong mech parame- w An error occurred at the w After alarm reset, execute the
5551 ter file internal control check. operation again.
repres.
5560 Imcompleted PT frame w An error occurred at the w After alarm reset, execute the
repres.
5570 Defective taught point w An error occurred at the w After alarm reset, execute the
5571 (Cutting) internal control check. operation again.
repres.
5580 Defective taught point w An error occurred at the w After alarm reset, execute the
5581 (Endless) internal control check. operation again.
repres.
5590 Correctional direction w An error occurred at the w After alarm reset, execute the
repres.
5600 Position correction w An error occurred at the w After alarm reset, execute the
repres.

MOTOMAN
ROBOTICS
Alarm
code
5610 Over tool file no. w An error occurred at the w After alarm reset, execute the
repres.
5620 Defective taught point w Weaving reference point w Teach the reference point
5621 (Weave) teaching error. again.
5622
5630 Undefined robot cali- w Calibration between robots w Perform calibration between
5631 bration was not performed at exe- robots.
5632 cution of coordination
instruction.
5640 Parameter error w Zero-division is performed w Set the parameter again.

5641 for internal data according
5642 to the parameter.
5650 Defective taught point w Teaching point failure w Perform teaching again.
5651 (Calib.)
5652
5660 DM-Bank transmission w An error occurred at the w After alarm reset, execute the
repres.
5670 Cannot execute job (No w An attempt to execute a dis- w Register the instruction by a job
5671 GRP axis) abled instruction was made with group axis.
5672 by a job without a group
axis.
5680 Univ data present w An error occurred at the w After alarm reset, execute the
5681 request error internal control check. operation again.
repres.
5690 Braking sequence error w An error occurred at the w After alarm reset, execute the
5691 internal control check. operation again.
repres.
5700 Process error w An error occurred at the w After alarm reset, execute the
5701 (Syscon ->axis) internal control check. operation again.
repres.
5710 Illegal SV parameter w Servo constant parameter w Set the servo constant parame-
5711 (Online) setting fault. ter again.
5712

ROBOTICS
Alarm
code
5720 KP change process w Improper response from w After alarm reset, execute the
5721 error axis section. operation again.
board.
5730 SV param change error w Improper response from w After alarm reset, execute the
5731 (Online) axis section. operation again.
board.
5740 Illegal max speed w Max speed parameter set- w Set the parameter again.
5741 parameter ting error.
5742
5750 Undefined position vari- w Position type variable which w Set the position type variable.
5751 able was not set was used.
5752
5760 Undefined user frame w User coordinate which was w Set the user coordinate.
5761 not set was used.
5762
5770 Out of range w An error occurred at the w After alarm reset, execute the
5771 (parallel process) internal control check. operation again.
repres.
5780 SL board on-line error w An error occurred at the w After alarm reset, execute the
repres.
5790 Interrupt error (Sensor) w An error occurred at the w After alarm reset, execute the
repres.
5800 Out of current detector w An error occurred at the w After alarm reset, execute the
5801 range internal control check. operation again.
repres.
5810 Command error w An error occurred at the w After alarm reset, execute the
5811 (Sensor) internal control check. operation again.
repres.

MOTOMAN
ROBOTICS
Alarm
code
5820 Process error (Sensor) w An error occurred at the w After alarm reset, execute the
repres.
5830 Parallel start instruc- w Parallel start instruction w After alarm reset, execute the
tion error could not be executed operation again.
[Decimal Data] Alarm data: w After alarm reset, review
1: Execution of sub task. IOSTART, PSTART instruc-
2: Same group axes. tions.
3: Multiple activation of the 1: Complete the sub task by the
same job. PWAIT instruction.
4: Master jjob was not regis- 2: Check the job to be activated,
tered. instruction timing, etc.
6: Stopping by alarm. 3: check the job to be activated,
instruction timing, etc.
4: register the master job in the
sub task.
6: After resetting tha alarm, acti-
vate the sub task.
5840 Cannot execute job w Activation of the job (group w After alarm reset, execute the
5841 (Group axis) axis) was attempted by operation again.
5842 IOSTART instruction. w After alarm reset, review
IOSTART, PSTART instruc-
tions.
5850 Measure inst execute w An error occurred at the w After alarm reset, execute the
repres.
5860 Coordinate transforma- w An error occurred at the w After alarm reset, execute the
5861 tion error internal control check. operation again.
repres.
5870 Fault Cutting data file w A fault occured in the cutting w Initialize cutting data file (Cus-
data file tomer Maintenance Mode).
w Load cutting data file saved on
floppy and recover it.
5880 Undefined position for w ARC retry cannot be per- w Register a step before ARCON
5881 ARC ON formed because of no step instruction.
5882 [Decimal Data] before ARCON instruction.

ROBOTICS
Alarm
code
5890 Undefined position for w Restart cannot be w After alarm reset, execute the
5891 restart return performed because of no operation again.
5892 restart return step in the w Change the job.
current job.
(ex: Retry is commanded
during performing the called
job).
5900 Reep pos error w Search direction cannot be w After alarm reset, extend the
5901 (Search motion) specified because of lack of distance between search start-
5902 distance between search ing and target points.
starting and target points.
5910 Specified error w Confirming position cannot w After alarm reset, change the
5911 (Coordinate) be performed because of coordinate.
5912 [Decimal Data] TF and MTF specified at
the coordinate with
position-variable (P).
Data: 0 TF
Data: 1 MTF
5920 Wrong execution of w An error occurred during w After alarm reset, clear the
load inst. executing instruction with error by using alarm data.
[Decimal Data] DCI function.
Data: See the transmission
function manual
save inst. executing instruction with error by using alarm data.
function manual
delete inst executing instruction with error by using alarm data.
function manual
5950 File type error (Base w An error occurred at the w After alarm reset, execute the
5951 axis) internal control check. operation again.
repres.
5960 MFRAME error w Data: 8 Position file is not w Register the position file.
5961 [Decimal Data] registered. w For maintenance alarm code,
5962 contact your MOTOMAN
repres.
5970 Cannot execute instruc- w The second argument is w Check the job.
5971 tion (sqrt) negative.
5972 [Decimal Data]

MOTOMAN
ROBOTICS
Alarm
code
5980 Out of range w Pulse difference of motor w After alarm reset, turn ON the
5981 (drop-value) between servos ON and servo.
5982 [Decimal Data] OFF is larger than that
specified by parameter
5990 Two steps same line w The position of three points w Program three different points.
5991 (3 Steps) at the user coordinate, or
5992 more than three instructed
points at the calibration
between robots are on the
same line.

ROBOTICS
Alarm-
code
6000 EMS error w An error occurred at the inter- w After alarm reset, execute the
[Decimal Data] nal control check. operation again.
repres.
6010 DMS error w An error occurred at the inter- w After alarm reset, execute the
[Decimal Data] nal control check. operation again.
repres.
6020 Major transmission w An error occurred at the inter- w After alarm reset, execute the
error nal control check. operation again.
repres.
6030 Excessive segment w The specified speed exceeds w After alarm reset, decrease the
6031 (Safety 1): Low the safe speed. speed of the step (Move
6032 [Axis Data] instruction) where the alarm
occurred or change the robot
attitude.
6041 (Safety 1): High the safe speed. speed of the step (Move
attitude.
6051 (Safety 2): Low the safe speed. speed of the step (Move
attitude.
6061 (Safety 2): High the safe speed. speed of the step (Move
attitude.
6070 Observe data output 1: Instruct execution error. w For maintenance alarm code,
6071 error 2: Ultra pierce data error. contact your MOTOMAN
6072 [decimal data] 3: Shutter open/close error. repres.
4: VCO start incomplete.
5: VCO manual start.
6080 Wrong execution of 1: Instruct execution error. w Check system condition.

laser process 2: Ultra pierce data error. w Check job/data file.
[decimal data] 3: Shutter open/close error. w For maintenance alarm code,
4: VCO start incomplete. contact your MOTOMAN
5: VCO manual start. repres.

MOTOMAN
ROBOTICS
Alarm-
code
6090 Poor laser condition 1: Data file number beyond w Set the correct value.
setting range.
[decimal data] 2: Gap amount data beyond
category.
6100 Operation error (Laser w Operation error during sam- w After alarm reset, execute oper-
process) pling or upon VCO stop. ation again.
[decimal data]
6110 Search monitor set w An error occurred at the inter- w After alarm reset, execute the
6111 error (Axis) nal control check. operation again.
repres.
6120 Search monitor release w An error occurred at the inter- w After alarm reset, execute the
6121 error (Axis) nal control check. operation again.
repres.
6130 Conv. error w An error occurred at the inter- w After alarm reset, execute the
6131 (F/B Pulse-> Cur Pos) nal control check. operation again.
repres.
6160 SV param CHG proc w An error occurred at the inter- w After alarm reset, execute the
repres.
6180 Sphere intrf err (Robot) w Data: 1 Calibration not per- w Perform calibration between
6181 [Decimal Data] formed. robots.
repres.
6190 Axis blocking w Data: Control group to be w Release the block for axis oper-
6191 [Control group] operated. ation.
6192
6200 Wrong job type w Occurred by performing dif- w Check the job.
6201 [Binary Data] ferent job types
6202
ex:
robot job<->concurrent job
robot job<->vision job
vision job<->concurrent job
6210 Tag data change pro- w An error occurred at the w Check job or file.
6211 cess error changing the welding condi-
6212 tion.

ROBOTICS
Alarm-
code
6220 Only concurrent job w The starting job at the third w Check the job.
6221 possible series is not the concurrent
6222 job.
6230 Cannot execute inst. w There is a instruction which w Check the job.
6231 (Concur job) cannot be executed in the
6232 concurrent job.
6240 Cannot execute speci- w Execute the robot job with IO w Check the job.
6241 fied job START instruction.
6242
6250 Syntax error in equation w An error occurred at the inter- w After alarm reset, execute the
6251 inst. nal control check. operation again.
repres.
6260 Undefined port no. w An error occurred at the inter- w After alarm reset, execute the
6261 (AOUT) nal control check. operation again.
repres.
6270 Syntax error w An error occurred at the inter- w After alarm reset, execute the
repres.
6280 Vision system error 1 w An error occured at vision w after alarm reset, execute oper-
6281 [decimal data] system. atoin again.
w Turn power OFF and ON again.

MOTOMAN
ROBOTICS
Alarm-
code
6350 Vision system error 8 w An error occured at vision w After alarm reset, execute
6351 [Decimal Data] system. operation again.
6360 Vision system error 9 Vision system fault data. w Initialize either file or template
6361 [Decimal Data] w File fault. and then load file saved on
w Ten plate fault. floppy disk and recover it.
6370 Vision system error 10 w An error occured at vision w after alarm reset, execute
6380 Vision system error 11 w An error occured at vision w after alarm reset, execute
6390 Vision job execution Alarm data; w Clear alarms according to

9391 error 1 1: Instruction interpretation alarm data.
error.
2: Additional items interpreta-
tion error.
3: Label to be jumps is not
specified.
4: Job to be jumped is not
specified.
5: Job to be called is not speci-
fied.
6: Calling place is not speci-
fied.
7: Job other than vision job
was executed by VSTART
command.
10: Job call stack over.
20: Local variable number
error.
21: Vision user variable num-
ber error.
30: Selected vision job doesn´t
exist.
40: Instruction structure error.
50: VPI is not executed.
6400 Vision execution error 2 w For maintenance alarm code,

6401 [Decimal Data] contact your MOTOMAN
repres.

ROBOTICS
Alarm-
code
6410 Vision Arithm. error Alarm data: w .Clear alarms according to

6411 [Decimal Data] 1: Divided by =0. alarm data.
2: Byte variable overflow 1-13: check if correct variables is
3: Integral number variable used.
overflow. 30: Match variables.
4: Real variable overflow.
5: Integral number variable
underflow.
6: Real variable underflow.
7: Byte variable underflow.
13: SQRT arithm. error.
30: Vision user variable
unmatched.
6420 Vision situation file Alarm data: w .Clear alarms according to

6421 error 1: Situation is not specified. alarm data.
[Decimal Data] 2: Situation data fault.
3: Situation is not selected.
4: Situation data is full.
6440 Vision user file error Alarm data: w Clear alarms according to
6441 [Decimal Data] 1: Vision user axis is not speci- alarm data.
fied. 1: Check vision user axis num-
2: Vision user axis fault. ber.
2: Specify vision user axis again.
6450 Vision execution control w For maintenance alarm code,

6451 error contact your MOTOMAN
[Decimal Data] repres.
6460 Vision inst error 1 w For maintenance alarm code,

repres.
6470 Vision inst error 2 w For maintenance alarm code,
repres.
6480 Vision Template Match- Alarm data: w Clear alarms according to

6481 ing error 1: VTMPOS command is exe- alarm data.
cuted before VTMATCH
command is executed.
2: Template is not specified.
3: Mask number is beyond cor-
rect category.
4: Specified matching point
doesn´t exist.

MOTOMAN
ROBOTICS
Alarm-
code
6490 Laser VCO reply error Alarm data: w Start over laser.
6491 1: VCO start/finish reply error. w For maintenance alarm code,
2: VCO operation preparation contact your MOTOMAN
complete reply error. repres.
3: Super pulse effect reply
error
4: Specified matching point
doesn´t exist.
6500 Laser Control Panel Alarm data: w After alarm reset, execute
transmission error 1: Flaming error. operation again.
[Decimal Data] 2: Parity check w Turn OFF power and turn ON
3: Overrun error. again.
repres.
6510 Twin coordinated error Alarm data; w For Data 1 and 2, specify
6511 [Decimal Data] 1: No effective control group. SYNC correctly on the robot
6512 2: No master control group. job and station and then exe-
3: No slave control group. cute the operation again.
4: No other stepend during w Uniform jobs of robot and sta-
synchronization. tion.
5: No other segmentdata dur- w For maintenance alarm code,
ing synchronization. contact your MOTOMAN
repres.
6520 Conveyor encoder error w Encoder cable line cut or w Check encoder cabel or
6521 (123) encoder fault. encoder.
w Data is alarm occurrence
conveyor number.
6530 Port number error (123) w Port number set in conveyor w Check conveyor/press file set-
6531 or/and press file doesn´t ting.
exist on board. This error
happens when CH2/3 ports
are specified in case of
MSL01-0, CH3 port is speci-
fied in case of MSL01-2.
w Data alarm occurrence con-
veyor number or press file
number.
6540 MSL02 CPU parame- w Parameter arithmetic error w Check if data from conveyor or
6541 ter error. when data is taken from con- press file is set correctly.
[Decimal Data] veyor press file.
6550 Conveyor position limit w Conveyor position counter w Check conveyor position.
6551 over (123) pulse overflow occured. w Since conveyor position is not
w Data is alarm occurrence reset after error happens, exe-
conveyor file number. cute the operation at the posi-
tion where rhe alarm occurred.

ROBOTICS
Alarm-
code
6560 Conveyor counter limit w Conveyor position counter w Check conveyor position
6561 over (123) pulse overflow occurred. counter pulse (conveyor reso-
w Data is alarm occurrence lution).
conveyor file number. w Since the conveyor position is
not reset after this error hap-
pens, execute the operation at
the position where the alarm
occurred.
6570 Conveyor file fault w CMOS memory conveyor file w Initialize conveyor file (cus-
[File Number] fault occurred. tomer maintenance).
w Data corresponds to the file w Load conveyor file from floppy
number. disk and recover it.
6580 Conveyor sync. error Alarm data: w Clear errors according to alarm
6581 [Decimal Data] 1: Driving axis direction error. data after the alarm reset.
6582 When conveyor file base
axis is specified other than 1,
2 or 3.
2: Robot group doesn´t exist
during robot axis tracking.
3: Base group doesn´t exist
during robot axis tracking.
4: CV select <-> CVF#
unmatched.
5: No data for conveyor starting
point during reading ahead.
6: Conveyor position latch error
during reading ahead.
7: Sync. start signal doesn´t
come on.
8: Conveyor position reset is
not allowed.
9: Conveyor correction amount
reading error.
6590 Undefined conveyor file w Conveyor file is not defined. w Define the conveyor file
6591 [Decimal Data] ´1: USE.
6592
6600 Conveyor speed w An error occurred at the inter- w Turn power OFF and then ON
6601 decrease nal control check. again.
6602 [Decimal Data] w Data corresponds to alarm w Turn power OFF and check the
number. control board.
repres.

MOTOMAN
ROBOTICS
Alarm-
code
6610 Conveyor sync. arith- An error occurred at the inter- w Turn power OFF and then ON
6611 metic error. nal control check. again.
6612 [Decimal Data] Alarm data: w Turn power OFF and check the
1: Conveyor sync. control control board.
group error. w For maintenance alarm code,
2: Conveyor sync. user axis contact your MOTOMAN
specifying error. repres.
3: Conveyor sync. coordinatd
slave error.
6620 Torque interference w At operating in specified w After alarm reset, decrease the
6621 speed, load torque of the speed of the step (Move
6622 robot axis and the motor instruction) where the alarm
exceeds allowance. occurred or change the robot
attitude.
6630 Servo power OFF for w The servo power supply is w Turn OFF the servo power and
6631 job OFF for the group axis of the turn the servo power supply
6632 [Control Group] operated job. ON again for the group axis to
operate.
6640 PSEND error Data: 1 Performed the PSEND w Change the job.
6641 [Decimal Data] instruction to own
6642 task.
6650 PRECV error Data: 1 Performed the PRECV w Change the job.
6651 [Decimal Data] instruction to own
6652 task.
6660 OFF-line mailbox pro- w An error occurred at the inter- w After alarm reset, execute the
6661 cessing err nal control check. operation again.
repres.
6680 Cannot use SMOVJ w Performed robot follow-up by w Change the instruction, or for
6681 during tracking SMOVJ instruction. the system with base axis,
6682 [Decimal Data] specify base axis follow-up.
6690 Data sending error w An error occurred while using w After alarm reset, clear the
[Decimal Data] the data transmission func- error by using alarm data.
tion.
Data: 1 Retry for NAK instruc-
tion exceeded.
Data: 2 Retry for timer A
timeup exceeded.
Data: 3 Retry for mutual
response error
exceeded.

ROBOTICS
Alarm-
code
6700 Data receiving error w An error occurred while using w After alarm reset, clear the
[Decimal Data] the data transmission func- error by using alarm data.
tion.
Data: 1 Receiving timeup
(timer A).
Data: 2 Receiving timeup
(timer B).
Data: 3 The heading lenght is
short.
Data: 4 The heading lenght is
long.
Data: 5 Header number fault
Data: 6 Text length exceeds
256 characters.
6710 Transmission hard- w An error occurred at using w After alarm reset, clear the
ware error the data transmission func- error by using alarm data.
[Decimal Data] tion.
Data: 1 Excess error
Data: 2 Parity error
Data: 3 Flaming error
Data: 4 Sending timeup
(timer A)
Data: 5 Sending timeup
(timer B)
6720 Transmission system An error occurred at using the w After alarm reset, clear the
block data transmission function. error by using alarm data.
[Decimal Data] Transmission procedure was
correct except for receiving
(mainly a violation or abnorma-
rity) which causes error in the
system.
Data: 1 Receiving EOT while
waiting ACK.
Data: 2 Receiving EOT while
waiting ENQ.
Data: 3 Receiving EOT before
receiving the last
block.
Data: 4 Receiving codes other
than EOT after
receiving the last
block.
6730 Transmission system w An error occurred at using w After alarm reset, execute the
error the data transmission func- operation again.
[Decimal Data] tion. w For maintenance alarm code,
repres.

MOTOMAN
ROBOTICS
Alarm-
code
6740 Fault (paint w Painting characteristic file w Load the storage painting char-
6750 characteristic file) total check error on CMOS acteristic file from FC 1/2.
[File No.] w Initialize the painting character-
istic file by maintenance mode.
Data:File number contact your MOTOMAN
repres.
6760 Fault (wrist weave w Wrist weaving amplitude w Load the storage wrist weaving
amplitude file) characteristic file total check amplitude characteristic file
error on CMOS. from FC 1/2.
w Initialize the wrist weaving
amplitude characteristic file by
maintenance mode.
repres.
6770 Corner R control error w Corner R is not allowed to w Do not use Corner R during
6771 [Decimal Data] use during coordinated oper- coordinated operation.
6772 ation. w Give another instruction.
w No reference point. w Adjust the value for Corner R
w Excessive angle. operation.
w Impossible to track internally
touched arch with specified
radius.
1: Corner R coordination con-
trol slave specifying error.
2: Corner R pass reference
point.
3: Corner R pass angle error.
4: Corner R operation radius
data error.
5: Corner R operation group.
&: Corner R master command
error.
6780 Job QUE empty error w Performed CALL QUE and w Check the job.
6781 JUMP QUE with no JOB
6782 QUE.
6790 Undefined paint w The painting characteristic w Set completely the painting
6791 characteristics file file is not set. characteristic.
6792
6800 Mreset error w An error occurred at the inter- w After alarm reset, execute the
repres.

ROBOTICS
Alarm-
code
6810 Servo averaging buffer w An error occurred at the inter- w After alarm reset, execute the
repres.
6820 Fault (Int job table file) w Interruption job table file total w Initialize the job table file by
check error on CMOS. maintenance mode.
repres.
6830 Out of range (input volt- w Data shows channel number w Check the cable between the
6831 age) bit: outside position correction
[Binary Data] 0000-0001:CH1 device and MSL board.
0000-0010:CH2 w Check parameter set value.
0000-0100:CH3
0000-1000:CH4
0001-0000:CH5
0010-0000:CH6
6840 Out of range (initial w Data shows channel number w Set the outside position correc-
6841 voltage) bit: tion device and MSL board.
[Binary Data] 0000-0001:CH1 w In case of re-occurrence, check
0000-0010:CH2 the input voltage of channel
0000-0100:CH3 which causes error and then
0000-1000:CH4 adjust the set voltage of “off-
0001-0000:CH5 set voltage” and “initial volt-
0010-0000:CH6 age”.
6850 Parameter error w Wrong setting for parameter w Set the parameter correctly.
6851 (sensor) (sensor) (S1E/S2E parame-
ter).
6860 Fault (Multi Layer File) The multi-layer file data was w Please contact MOTOMAN ser-
destroyed. vice.
6870 Fault (Multi Layer The multi-layer condition file w Please contact MOTOMAN ser-
Condtion File) data was destroyed. vice.
6880 Stack less than 0 (Job w An error occurred at the inter- w After alarm reset, execute the
6881 call) nal control check. operation again.
repres.

MOTOMAN
ROBOTICS
Alarm-
code
6890 Job attribute not same Job attribute (reverse attribute) w Check the attribute of jobs
6891 (MULT) is not proper. specified by MLTSMPL.
6892 w The sampling reverse job w Check that sampling reverse
specified by MLTSMPL does job is created.
not have reverse attribute. w Use the same attribute for jobs
w The 1st-layer job or sampling specified by MLTSCAL.
forward job specified by
MLTSMPL has reverse
attribute.
w The attributes of the sam-
pling job and Nth path job
specified by MLTSCAL are
not the same.
6900 Job control group not The control group is not same w Select the jobs which are in the
6901 same (MULT) between specified jobs. same control group.
6902
6910 Number of steps not The number of all steps are not w Provide the same number of
6911 same (MULT) same between specified jobs. steps between specified jobs.
6912
6920 Number of refp not The number of reference w Provide the same number of
6921 same (MULT) points are not same between reference points between
6922 specified jobs. specified jobs.
6930 Coordinate not same The coordinate of position data w Use the same coordinate for
6931 (MULT) for move instruction corre- move instruction between jobs.
6932 sponded to specified jobs are
not the same.
6940 Teaching tool not same The tool file of move instruction w Use the same tool file for move
6941 (MULT) correspond to specified jobs instruction between jobs.
6942 are not the same.
6950 Undifined weld sect. In the specified job, welding w Register welding section for
6951 (MULT) section (SENSON COMARC to each job.
6952 SENSOF COMARC, SENSON
SCOMARC to SENSOF SCO-
MARC, ARCON to ARCOF) is
registered.
6960 Steps not same weld The number of move instruc- w Provide the same number of
6961 sect. (MULT) tiones in welding section move instructions in welding
6962 between specified jobs are not section between specified jobs.
the same.

ROBOTICS
Alarm-
code
6970 Error of MULT Layer DATA:1 w Please contact MOTOMAN ser-

6971 Function Internal queue of sampling vice.
6972 underflowed at execution of
MLTSMPL.
DATA:2 w Please contact MOTOMAN ser-

Internal queue of sampling vice.
underflowed at execution of
MLTSMPL.
Job name for internal queue of w Please contact MOTOMAN ser-
sampling was not registered at vice.
execution of MLTSMPL.
6980 Duplicate execution of MLTSMPL was executed dur- w Check and change the content
6981 MLTSMPL ing executing MLTSMPL. so that two MLTSMPL will not
6982 be executed at the same time.
6990 Undefined MULT Layer The setting of specified multi- w Check the specified multi-layer
6991 file layer file was not completed. file.
6992
Alarm-
code
7000 Undefined MULT Layer Unused multi-layer condition w Check the path number of multi-
7001 cond. file file was specified layer file that condition file No.
7002 will not exceed the welding
path No.
7010 Weld sections not same Between the specified jobs, the w Provide the same welding sec-
7011 (MULT) number of welding section tion number.
7012 (SENSON COMARC to SEN-
SOF COMARC, SENSON
SCOMARC to SENSOF SCO-
MARC, ARCON to ARCOF)
are not the same.
7020 Duplicate weld sec- SENSON and ARCON exist in w Register SENSON COMARC
7021 tions (MULT) the welding section for the and SENSOF COMARC, SEN-
7022 specified job. SON SCOMARC and SENSOF
SCOMARC, ARCON and
ARCOF as a pair. Do not regis-
ter SENSON and ARCON in
these sections.
7030 Over 10 weld sections The number of welding sec- w Provide the number of welding
7031 (MULT) tions in the job exceeds 10. sections within 10.
7032

MOTOMAN
ROBOTICS
Alarm-
code
7040 Move instruction not The type of move instruction w Use the same move instruction
7041 same (MULT) corresponded to specified jobs type between jobs.
7042 are not the same.
7050 Same point error Three registered points for w Reteach the points so that max
7051 (MOVL 3 POINT) MOVL are the same in the two points will be the same
7052 scaling shift section. point.
7060 Same point error Two or more REFP points are w Reteach the points.
7061 (REFP) the same in the scaling shift
7062 section.
7070 Same point error The start and end points for w Reteach the points.
7071 (START, END) scaling shift section are the
7072 same.
7080 Error of scaling calcula- Alarm data: w For maintenance alarm code,
7081 tion 1: Internal transaction error 1. contact your MOTOMAN
7082 [Decimal Data] 2: Internal transaction error 2. repres.
3: Arithmetic error (MLTSCAL).
7090 Line matching error Alarm data: Clear errors according to alarm
7091 (Vision) 1: VLMPOS command was data.
7092 [Decimal Data] executed before VLMATCH 1: Execute VLMATCH command
command is executed. first.
2: Line file is not defiend. 2: Check line file number.
3: Specified line number 3: Set correct line number.
doesn´t exist. 4: Set correct sort number.
4: Sort number is wrong. 5: Execute VLMPOS command.
5: VLMPOS command is not 6: Register line file again.
executed.
6: Line file fault.
7110 Transmission error Alarm data: Clear errors according to alarm

7111 (sensor) 1: Parity error or overrun error data.
[Decimal Data] or flaming error occurred. 1: Check whether or not transmis-
2: Answer was not given within sion method between controller
3 seconds from sensor dur- and sensor is matched.
ing transmission. 2: Check line connection.
3: Data from sensor has error 3: Check data from sensor.
(BCC check result error).
7120 Fault (Sensor monitor w CMOS memory cutting con- w Initialize cutting condition file
condition file) dition file fault. (Customer maintenance).
[Decimal Data] w Data indicates file number. w Load the file saved on a floppy
disk and recover it.
7130 Application program w Another application started w Check job after resetting alarm.
starting error during application program
[Decimal Data] execution.
7140 Undefined application w Undefined application started w Either change name of

program with APSTART command. APSTART command or load
[Decimal Data] application program.

ROBOTICS
Alarm-
code
7150 8086 Emulator starting - w For maintenance alarm code,

error contact your MOTOMAN
[Decimal Data] repres.
7160 Zero divided occur- w Application program exe- w Correct application program.
rence (TURBO) cuted zero divided (emula-
[Decimal Data] tion mode).
7170 Request error (SL) w Request cannot go through w Turn OFF power and then ON
7171 [Decimal Data] from motion area to sensor again.
7172 area. w Turn OFF power and check
insetion of the MSL board.
repres.
7180 Software unmatch Alarm data: w For maintenance alarm code,

7181 [Decimal Data] 1: MULT layer weld function. contact your MOTOMAN
7182 2: Observe data. repres.
3: TURBO function.
4: COMARC function.
5: Conveyor/Press sync. func-
tion.
6: Shared movement function.
7: Weight movement function
8: General purpose function.
9: Servofloat function.
10: Laser cutting function.
11: Servo gun function (for spot
welding).
7190 Fault (name position w CMOS memory name posi- w For maintenance alarm code,
file) tion file fault. contact your MOTOMAN
[File Number] w Data idicates file number. repres.
w Position name development
is under discontinuation.
7200 Name position file sys- w Position name development w For maintenance alarm code,
7201 tem error is under discontinuation. contact your MOTOMAN
7210 Undefined name posi- w Position name development w For maintenance alarm code,
7211 tion file is under discontinuation. contact your MOTOMAN
7212 repres.

MOTOMAN
ROBOTICS
Alarm-
code
7220 User frame making w Position name development w For maintenance alarm code,
7221 error is under discontinuation. contact your MOTOMAN
7222 [Decimal Data] 1: User frame making position repres.
teaching error.
2: User frame rotation position
teaching error.
3: Robot doesn´t exist in rotat-
ing position occupation
group.
4: Name position data user
frame number error.
5: Name position data position
tag error.
7230 Cannot monitor dis- w MOVJ, MOVS were going to w Either change command names
tance be executed under arc-retry, to MOVL , MOVC or do not
restart operation. execute arc-retry or restart
function.
7240 ME-NET system Error 2 MSC02 board error during w Check other station´s data.
[Decimal Data] communication. Value of type 1
receiving frame NI (relay link
sending size) and NY (register
link sending size) doesn´t
match that of data link parame-
ter.
7250 ME-NET Comm Moni- Communication monitor flag is w Restart communication at errer
tor Flag Error zero at alarm set station. station and then reset alarm.
[Decimal Data] 1-63: Error stations (mother
station is not included). This
error occurs only at alarm set
station.
7260 ME-NET Stat Monitor Communication monitor flag 1 w Restart programming at error
Flag Error 1 is zero at alarm set station. station and then reset alarm.
[Decimal Data] 1-64: error stations (64 indi-
cates mother station).
This error occurs only at alarm
set station.
7270 ME-NET Stat Monitor Communication monitor flag 2 w Clear errors at error station and
Flag Error 2 is zero at alarm set station. then reset alarm.
[Decimal Data] 1-64: error stations (64 indi-
cates mother station).
This error occurs only at alarm
set station.

ROBOTICS
Alarm-
code
7280 Data Link Parameter Alarm Data: w Correct data link allocation of
Error 10: Number of stations error self-station or mother station
[Decimal Data] (not 2 number of stations, 64). data link parameter.
11: Total amount of relay and
register sending size per sta-
tion on data link parameter
exceeds 1024.
12: Total amount of all stations
relay sending size on data link
parameter exceeds 256.
13: Total amount of all stations
registersending size on data
parameter link exceeds 2048.
14: Relay off-set exceeds
mother station relay area size
on data link parameter.
15: Register off-set exceeds
mother station relay area size
20: Block specified with data
link allocation exceeds self-sta-
tion relay area size specified
with data link parameter. (Block
whose total amount of off-set
and byte length is bigger than
self-station relay area size on
data link parameter exists.)
link allocation exceeds other
station relay area size specifie
with data link parameter. (Block
whose total amount of off-set
and byte length is bigger than
other station relay area size on
data link parameter exists.)
link allocation exceeds other
station register area size speci-
fied with data link parameter.
(Block whose total amount of
off-set and byte length is bigger
than other station register area
size on data link parameter
exists.)
24: Station number specified
with data link allocation is not
included in number of stations
7290 Waiting Data Link Waiting for data link parameter w Restart communication with
Parameter from mother station. mother station and then reset
the alarm.

MOTOMAN
ROBOTICS
Alarm-
code
7300 Fault (Operation Origin CMOS memory operation ori- w Since this is a system data file
Data) gin data fault. problem, pleace contact
MOTOMAN-service.
7310 Fault (Servo Float Con- CMOS memory servofloat con- w Initialize spot gun cond. file
dition File) dition file fault. (customer maintenance).
[File Number] Data indicates file number. w Lad the file saved on a floppy
7320 Fault (Press Cond. CMOS memory press cond. file w Initialize press cond. file (cus-
Data File) fault. tomer maintenance).
Data indicates file number.
7330 Undefined Press Cond. Specified press cond. data file w Select “use” for specified cond.
7331 Data File in job is not defined. data file.
7332 [Decimal Data]
7340 Undefined Press Reso- Specified press resolution data w Define data the select “com-
7341 lution Data file is not defined. pleted”
7342 [Decimal Data]
7350 SL-CPU Data Initializa- Request (to initialize) cannot w Turn OFF power and then ON
7351 tion Error go through from motion area to again.
7352 sensor area. w Turn OFF power and check the
insertion of the MSL board.
w Please contact MOTOMAN-
service.
7360 SV Float Mode Set - w Please contact MOTOMAN-

7361 Error (axis) service.
7362
7370 SV Float Mode Release - w Please contact MOTOMAN-

7371 Error (axis) service.
7380 Press Encoder Error Encoder cable is cut or w Check encoder cable and
7381 (123) encoder itself is broken. encoder.
Data indicates error press
number.
7390 Press Position Limit Press position exceeds limit w Check press stroke.
7391 (123) (21m). Data indicates error
press number.
7400 Press Counter Limit Press position counter pulse w Check press position counter
7401 (123) owerflow. pulse (press resolution).
7410 CPU Rack Servo Error CPU rack/board error. Wrong w Check board insertion.
board was inserted. w Check MSV board connector/
short pin.
service.
7420 Press Encoder Posi- Encoder cable is cut or w Check encoder cable and
7421 tion Position Error (123) encoder itself is broken. encoder.
Data indicates error press
number.

ROBOTICS
Alarm-
code
7430 Internal Clock Change - w Please contact MOTOMAN-

7431 Error (123) service.
7440 Servopack Power OFF 1: Main power is ON. w Please contact MOTOMAN-
7441 Error 2: SRDY is OFF. service.
7442 [Decimal Data]
7450 Servopack Power ON 1: Main power is OFF w Please contact MOTOMAN-
7451 Error 2: SRDY is ON service.
7452 [Decimal Data]
7460 Fault (Spot Gun cond. CMOS memory spot gun cond. w Initialize spot gun cond. file
File). file fault. (customer maintenance).
[File Number] Data indicates file number. w Load the file saved on a floppy
7470 Fault (Spot Welder CMOS memory spot welder w Initialize spot gun cond. file
Cond. File) cond. file fault. (customer maintenance).
[File Number] Data indicates file number. w Load the file saved on a floppy
7480 Fault (Servo gun Pres- CMOS memory servo gun w Initialize spot gun cond. file
sure File) pressure cond. file fault. (customer maintenance).
[File Number] Data indicatesfile number. w Load the file saved on a floppy
7490 Fan Error (Regenera- Fan (regenerative resistor) rev- w After resetting alarm, move
tive Resistor) olution decreased. robot to save location.
[Decimal Data] w Fan needs to be replaced.
service.
7500 Undefined Servo Gun - w Please contact MOTOMAN-

7501 control Group service.
7502
7510 Undefined Signal for - w Please contact MOTOMAN-
7511 Spot Weld Complete service.
7512
7520 Spot Weld - w Please contact MOTOMAN-

7521 Complete Time Limit service.
7522
7530 Error in Weld Start Tim- - w Please contact MOTOMAN-

7531 ing service.
7532
7540 Servo Gun Cont. Mode - w Please contact MOTOMAN-
7541 Set Error (axis) service.
7542
7550 Servo Gun Cont. Mode - w Please contact MOTOMAN-

7551 Release Error (axis) service.
7552

MOTOMAN
ROBOTICS
Alarm-
code
7560 KD Change Process - w Please contact MOTOMAN-

7561 Error service.
7562 [Decimal Data]
7570 Spot Weld Error - w Please contact MOTOMAN-

7571 [Decimal Error] service.
7572
7580 Fault (Anticipation OT CMOS memory aticipation OT w Initialize anticipation OT file
File) file fault. (customer maintenance).
[File Number] Data idicates file number. w Load the file saved on a floppy
7590 Fault (Anticipation OG CMOS memory aticipation OG w Initialize anticipation OG file

File) file fault. (customer maintenance).
[File Number] Data idicates file number. w Load the file saved on a floppy
7600 Anticipation Control Many operation commands are PAINTON PAINTON

7601 Error set continously.
PAINTOF MOVL
7602 [Decimal Data] MAINTOF
MOVL
7610 Anticipation Distance No return step upon re-paint w After alarm reset, execute oper-
7611 NOT enough function after emergent stop. ation again.
7612
7620 Defective Anticipation OT file is set “-.”. w After alarm reset, set correct
7621 OT File 1: OT output number error. number.
7622 [File Number]. 2: OG output number error.
7630 Impossible to Discon- The axis that makes servo dis- w After alarm reset, do the correct
nect Servo connect is specified. operation.
7640 Conveyor Queue Over- Conveyor origin SL wnt on w Check pieces and keep number
flow without using all 6 conveyor of them at 6 or less.
queues. w Check LS (chattering).
w In addition to piece under
sync. pieces passed con-
veyor origin LS add up to
more then 6.
w Conveyot origin LS worked
improperly.
7650 No Conveyor Queue w CVQUE command was exe- w Change the timing for CVQUE
7651 Data cuted without using all con- command and/or conveyor
veyor queues. queue clear signal.
w Conveyor queue clear signal
was sent.
7660 MPCT Function NOT MPTC function is used without w Set “conveyor queue use per-
7661 Specified setting “conveyor queue use mission” (“1”) and then use
7662 permission” in conveyor cond. MPCT function.
data file.

ROBOTICS
Alarm-
code
7670 CONVSFT Error Arithmetic error occurred upon w Please contact MOTOMAN-
7671 [Decimal Data] CONVSFT command execu- service.
7672 tion.
7680 Cannot Execute Gun - w Please contact MOTOMAN-

7681 Type service.
7682
7690 STARWAIT Time Limit - w Please contact MOTOMAN-
7691 service.
7692
7700 Sensor Initial Data - w Please contact MOTOMAN-

7701 Beyond Range service.
[Binary Data]
7720 Cannot execute Cali- - w Please contact MOTOMAN-

7721 bration service.
7730 PG ON Error (axis) - w Please contact MOTOMAN-

7731 service.
7732
7740 PG OFF Error (axis) - w Please contact MOTOMAN-

7741 service.
7742
7750 Servo Gun Change - w Please contact MOTOMAN-

7751 Error service.
7752
7760 Servo Gun Installation - w Please contact MOTOMAN-

7761 Error service.
7762
7770 Fault (Servo Gun - w Please contact MOTOMAN-

Stroke Fike) service.
[Decimal Data]
7920 Parameter Error Self-station or server IP w Check the set value again and
(IP-address) address is set to (0.0.0.0) or change it to the proper value in
(255.255.255.255) the system configuration.
7930 Parameter Error Sub Net-Mask is w Check the set value again and
(Sub Net-Mask) set to (0.0.0.0) or change it to the proper value in
(255.255.255.255) the system configuration.
7940 Parameter Error Set value of gateway IP w Check the set value again and
(Gateway) address does not exist in the change it to the gateway IP
same network as self-station. address in the network speci-
fied by sub net mask in the sys-
tem configuration.
7950 System Error Improper intialization of MIF06 w If the control power supply is
(Ethernet) board turned ON again and the error
still occurs, please contact
MOTOMAN service

MOTOMAN
ROBOTICS
AB Error messages- classing Page: 61
3. Error messages- classing

Error-messages are indicated on the P-box display.
The error codes are classified below.
Error messages occur when simple mistakes have been made, such as
pressing the START button while the robot is not in PLAY-mode. A four-
digit error code and a message appears at the bottom of the display.
these errors are cleared by pressing CANCEL key on the Teachbox.
Error messages turn of the ENABLE key.
Note!
Alarm and Error codes can begin with the same numbers but have totaly
different meaning.
3.1 Caution
Error codes Remedial action
0 xxx System / General Operation.
1 xxx All editing errors.
2 xxx All job registration errors.
3 xxx External memory unit operation
4xxx Concurrent I/O editing
5xxx ---
6xxx ---
7xxx ---
8xxx ---
9xxx System (software) error
Error
Data Message Cause
code
0010 - Turn OFF Servo power and perform w Servo power turned ON when con-
corrective action. current I/O program “compile”
executed.
0020 - Depress TEACH w Operation in mode other than

specified.
0030 - Illegal setting for number of vari- w Parameter setting value error.
ables.
0040 - Undefined robot position variable. w Position variable can not be used.
0050 - Depress MODIFY. -

ROBOTICS
Page: 62 Error messages- classing AB
Error
Data Message Cause
code
0060 - Undefined points (ORG, XX, XY). w ORG, XX, XY points in the user
coordinates have not been regis-
tered.
0070 - Program and current Tool different. w When a MOV-instruction is deleted

(or modified) the tool number
sekected at the programming pen-
dant does not match the regis-
tered tool.
0080 - Same position in the 3 points. w The same position is registered for
the three basic points (ORG, XX,
XY) of the user coordinates.
0090 - Set robot exactly to taught point. -
0100 - On Overrun recovery status. -
0110 - Turn ON servo power. w Servo power is not turned ON.
0120 - Set to PLAY mode. w Operation in other than specified

mode.
0130 - No start using external signal. -
0140 - No start using P-Box. -
0150 - TEACH-LOCK mode ON -
0160 - ENABLE LED ON -
0170 - Servo-OFF signal ON -
0180 - TEACH mode select signal ON -
0190 - Set variable No. -
0200 - Defined Group axis -
0210 - Undefined Coordinated robots -
0211 - Undefined Coordinated stations -
0220 - Taught by other Robot -
0230 - While releasing softlimit -
0240 - Undefined robot -

0250 - Defined Condition No. -
0260 - Undefined File -
0270 - Welding condition file not selected -

0280 - Lack of number of I/O points. -
0290 - Cannot set same No. -

MOTOMAN
ROBOTICS
Error
Data Message Cause
code
0300 - Undefined User Frame. w The user coordinate system

required for conversion was nor
registered.
0310 - Cannot register Master Job. -

0320 - Cannot operate CHECK-RUN -
0330 - Cannot operate MACHINE-LOCK -
0340 - Cannot operate MasterJob -

0350 - Cannot Initialize -
0360 - Teach point not specified. -
0370 - No SYNCRO operation -
0380 - Position NOT Checked w 2nd home positon operation not

confirmed.
0390 - Can specify SERVO OFF by safety -

relay
0400 - Wrong specification of Measure w Incorrect specification of time

Interval measurement interval for TRT
function.
0410 - Time could not be measured. w Time could not be measured for
TRT function.
0420 - Incorrect number of taught points. Incorrect number of points taught for
tool calibration.
0430 - Register start reserved JOB -
0440 - Clear data to teach at the tool -

because other tool is set.
0450 - Wrong JOB for measuring -
0460 - Excess time for measuring -
0470 - Calibrated at another file -
0480 - Calibrated at another robot combina- -

tion
0490 - Cannot calibrate at this combination -

0500 - Undefined robot calibration data -
0510 - Undefined axis -
0520 - Cannot select two coordinated com- -

binations
0530 - Start reservation mode -
0540 - Not start reservation mode -

ROBOTICS
Error
Data Message Cause
code
0550 - Start reserved JOB change pro- -

hibited is set
0560 - Cannot teach position while softlimit -

released
0570 - Turn on all of contactor´s servo -
power
0580 - Connect group-axis combination -
0590 - Register group axis combination [SYNCRO] key for coordinated job
which was not registered as a
group was pressed.
0600 - Out of setting data range Cubic interference zone is set.
0610 - Cannot use the user coordinate
0620 - Select JOB (robot)
0630 - Not completed to load original tool

file
0640 - Not specified tool file
Error
Data Message Cause
code
1010 - EDIT LOCK mode Editing prohibited
1020 - Enter Correct value Input data incorrect
1030 - Unauthorized ID No. User ID is different
1040 - - -
1050 - Enter correct data -
1060 - Enter correct clock -

1070 - Enter a number in 8 figures -
Error
Data Message Cause
code
2010 - Incorrect character -
2020 - Name not entered -
2030 - Undefined JOB name No specified job.
2040 - Defined JOB name Same job name already registered.

2050 - Address not find -

MOTOMAN
ROBOTICS
Error
Data Message Cause
code
2060 - Select Master -
2070 - Set robot exactly to taught position w When MOV-instruction is deleted,

current manipulator position and
teaching postio do not coincide.
2080 - Depress INSERT or MODIFY w [INSERT] or [MODIFY] key was
not pressed.
2090 - Only modifying MOV-instruction pos- -

sible
2100 - JOB cannot be edited w Job block editing prohibited.

2110 - Over softlimit -
2120 - Cannot Insert/Alter/Delete with servo -

OFF
2130 - Only modifying MOV-instruction pos- -

sible
2140 - Must press ENABLE to modify -
2150 - Inserting is not possible from this -

position
2160 - Cannot modify or delete instruction -
2170 - Depress INSERT to record same -

step as previous step.
2180 - Cannot insert data -
2190 - Cannot delete data -

2200 - Cannot modify data -
2210 - Illegal data setting -
2220 - Display edit instruction w Sequence Nos. do not coincide.

2230 - Illegal instruction equation -
2240 - Excessive instruction equation -
2250 - Unmatched number of paranthesis -

in equation
2260 - Wrong group axis selection -
2270 - Cannot insert any more instruction in w Step No. overflow.

JOB
* Job memory full -

1 - w Insufficient position file memory.
2280
2 - w Insufficient job registering memory.
3 - w Insuficient instruction file memory.

ROBOTICS
Error
Data Message Cause
code
2290 - Undefined Master job w Master job is not registered.
2291 - Undefined SUB master job. w Data:

1 = submaster 1
2 = submaster 2
2300 - Cannot teach job without group axis -
specification.
2310 - Same lable exists w Data: line No.
2320 - Cannot create coordinated JOB w Calibration not completed

2330 - Cannot edit coordinated instruction w Calibration not completed
2340 Pasted data not found -
2350 - Editing area not found -
2360 - Cannot create editing area -
2370 - Cannot cut/copy NOP and END -

instruction
2380 - Wrong JOB selection -
2390 - Wrong group axis selection -
2400 - Cannot move in cut & paste editing -
2410 - When variable is used for speed set- -

ting, perform a line-edit
2420 - When variable is used for teach set- -

ting, perform a line-edit
2430 - Reserved data not found -
2440 - Move C- and W-axis to basic posi- -

tion
2450 - Relative Job not permitted. -
2460 - Specified JOB not permit -
2470 - Wrong JOB type -

2480 - Wrong JOB coordinates setting -
2490 - Execute NEXT/BACK operation -

again
2500 - Cannot convert the JOB -
2510 - Cannot correct position in the JOB -
2520 - Enter JOB name -
2530 - Illegal step number -
2540 - Enter step number -

MOTOMAN
ROBOTICS
Error
Data Message Cause
code
2550 - Duplicated step number -
2560 - Cannot correct step of position vari- -

ables and REEP
2570 - The step does not contain speed -
2580 - The step does not contain PL/CONT -
2590 - Softlimit range over -

2600 - Cannot correct play speed in the -
JOB
2610 - Wrong JOB kind -
2620 - Cannot correct play speed in the -

JOB
2630 - Conveyor position not reset -
Error
Data Message Cause
code
3010 - Floppy Disk Drive cable not con- w Faulty cable connection to floppy
nected disk drive or power not supplied.
w No response from floppy disk
drive.
3020 - Floppy disk not inserted into Floppy -

Disk Drive
3030 - Floppy disk protection is ON w The floppy disk is set to write

prohibit.
3040 - File not saved on floppy disk -

3050 - File saved on floppy disk -
3060 - Out of memory on floppy disk. w No free space in floppy disk

memory area.
3070 - Number of files on floppy disk is full -

3080 - I/O error on floppy disk w Number of allowable retransmis-
sions exceeded.

ROBOTICS
Error
Data Message Cause
code
* Transmission error with floppy disk

drive
1 w Framing error
2 w Overrun error
3 w Parity error
3090 4 w Data code error

5 w Data read error
6 w Data write error
7 w Data timeout
8 w Serial I/O error
9 w Error other than above
3100 - Total checksum error w Instruction syntax error
3110 - Syntax error w Instruction syntax error
* HEX code error
1 w Incorrect data record specification
2 w Incorrect specification of EOF

3120
record
3 w Incorrect record format
4 w Record tootal check error
3130 - Verify error w Verification error
3140 - Wrong pseudo instruction -
* Concurrent I/O record error

1 w Format error
2 w Ladder program is too long
3 w Data range exceeded

3150
4 w Incorrect channel No. specification
5 w Incorrect relay No. specification
6 w Incorrect timer value
7 w Incorrect timer No. specification
3160 - Concurrent I/O data transmission -

error

MOTOMAN
ROBOTICS
Error
Data Message Cause
code
* Error in job data record
1 w NPOS record does not match the

format.
2 w User coordinate No. (USER)
record does no t match the format.
3 w Tool No. (TOOL) record does not

match the format.
4 w Record of position data part does

not match the format.
5 w RCONF record does not match the
format.
6 w Date ( DATE) record does not

match the format.
3190 7 w Comment (COMM) record does
not match the format.
8 w ATTR record does not match the

format.
9 w GROUP record does not match

the format.
10 w Local variable (LVARS) record

does not match the format.
11 w Job argument (JARGS) record

does not match the format.
12 w FRAME record does not match the

format.
13 w Coordinates of position data do not

match relative job coordinates.
3200 - NOP or END instruction not found -
3210 - Position No. storage area not found -
* Syntax error in instruction data

2 w Program bug
3 w Undefined instruction / tag
4 w Insufficient instructions / tags

3220
5 w Unwanted instruction / tag
6 w Sub-instruction
7 w No instruction
8 w Invalid instruction

ROBOTICS
Error
Data Message Cause
code
9 w Invalid tag.
10 w Invalid character.
11 w Undefined intermediate code.
12 w Insufficient intermediate codes.
14 w Syntax stack underflow.

15 w [%] not completed.
16 w (%) not completed.
17 w No marco job registered.

18 w Input format error.
19 w Data size excessive.
20 w MIN value excessive.
21 w Max value excessive.
22 w Incorrect arithemetic expression.
23 w Incorrect job call argument setting.
24 w Incorrect marco job call argument

3220 setting.
(cont....)
25 w Incorrect position vector setting.
26 w System error.
27 w Soft key specification error.
28 w Numerical input buffer overflow.
29 Real type data precision error.
35 BOOL type data error.
36 CHAR data error.
37 w Byte type, Bin/Hex byte type data

error.
38 w Iteger type, decimal WORD type

data error.
39 w Bin/Hex word type data error.
40 w Double-precision type, decimal

DWORD type data error.
41 w Bin/Hex WORD typedata error.
42 w Integer type data error.

MOTOMAN
ROBOTICS
Error
Data Message Cause
code
43 w Ladder characteristic type data

error.
44 w JCL text.
45 w Invalid text.
3220
(cont....) 46 w [Lable name] data error.
47 w [Job name] data error.

48 w [String]data error.
49 w [Comment] data error.
3230 - System not matched -
3240 - Undefined application -
3250 - Cannot load this file -
3260 - Excess input data -
3270 - Cannot verify this file -
3280 - Wrong welding condition file (STAN- -

DARD / ENHANCED)
Error
Data Message Cause
code
* Illegal Relay No.

4010
XXX w Step No. display
* Illegal block No.

4020
* Illegal instruction
4030
* Relay No. duplicated in OUT or w Multiple outputs to same relay

4040 GOUT instruction
* The relay is not used.

4050
XXX w Line No. display
* Excess STR-(NOT) instruction

4060
* Excess AND(OR)-STR instruction

4070
w Step No. display

ROBOTICS
Error
Data Message Cause
code
* Syntax error in CNT instruction

4080
* Enter STR (-NOT) at Head of Block w No STR (-NOT) at head of line.
4090
* Relay No. duplicate in TMR and w Duplicate use of timer, counter

4100 CNT
4110 - Excessive ladder scan-time w Ladder scan time is too long
4120 - Concurrent I/O memory is full w Memory overflow
4130 - END instruction not found -
4140 - Wrong ladder program w Position or number of PART

instruction is incorrect.
* Wrong use of GSTR, GOUT com- w The order from the head of the line
4150 mands is not GSTR, GOUT.
4160 - Cannot edit system section -
4170 - Cannot Modify / Delete -
4180 - Depress INSERT / MODIFY / -

DELETE soft keys
4190 - Ladder program not found -
4200 - Cannot specify system variables ($) -
4210 - Cannot edit line -

Notes
Headquarters:
MOTOMAN ROBOTICS AB
Box 504 l 385 25 Torsås l Sweden
Tel: +46-486-48800l Fax: +46-486-41410
Subsidiary:
MOTOMAN ROBOTICS UK LTD
1 Swan Industrial Estate l Banbury l OXON OX16 8DJ l England
Tel: +44-1295-272755 l Fax: +44-1295-267127
MOTOMAN ROBOTICS ITALIA SRL

Via Emilia 1420/16 l I-41100 Modena l ITALY
Tel: +39-59280496 l Fax: +39-59280602
MOTOMAN ROBOTICS FRANCE S.A.

Rue Nungesser et Coli l D2A Nantes-Atlantique l F-44860 Saint-Aignan-de-Grand-Lieu l France
Tel: +33-2-40131919 l Fax: +33-40754147
MOTOMAN ROBOTICS ESPAÑA S.L.

Avenida Marina 56 l Parcela 90 l ES-08830 ST. Boi de Llobregat l Spain
Tel: +34-36303478 l Fax: +34-36543459
Distributors:
ELECTRO-ARCO S.A.
Rua Vice Almirante Azevedo Coutinho, 4 l Venda Nova l PT-2700 Amadora l Portugal
Tel: +351-14968160 l Fax: +351-14990696
HN AUTOMATIC A/S
Hjulmagervej 4 l DK-7100 Vejle l Denmark
Tel: +45-79428000 l Fax: +45-79428001
LINCOLN-KD S.A.
Ctra, Laureà Miró 396-398 l E-08980 Sant Feliu de Llobregat l Spain
Tel: +34-36859600 l Fax: +34-36859633
MOTOMAN ROBOTIT OY
Kärsämäentie 8 l SF-20300 Turku l Finland
Tel: +358-22145600 l Fax: +358-22145660
ROBOT-TEKNIKK AS
Øvre Eikervei 177 l N-3048 Drammen l Norway
Tel: +47-32217830 l Fax: +47-32217840
SIAD S.p.a.
Via S. Bernardino, 92 l I-24126 Bergamo l Italy
Tel: +39-35-328111 l Fax: +39-35-320183
MOTOMAN ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation

Alarm and Error Codes For MRC

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Alarm and Error Codes For MRC

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YASNAC MRC

Alarm & Error Codes, YASNAC MRC

1. Alarmcodes - classing ........................... 1

Skapad: 98-08-12 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\AlarmliIH.fm

Skapad: 98-08-12 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\AlarmliIH.fm

1 xxx Level 1 - 2 Reset of the alarm with the reset-button or an external

4 xxx Level 4 - 8 Reset of the alarm with the reset-button or an external

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1.2 Servopack alarm indication

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

0020 CPU w CPU communication test w Check the insertion of the

0030 ROM error w ROM total check error. w Replace ROM.

0090 I/O module w Communication error w Check the insertion of the

0100 IAMP w Communication error w Check the connection of the

0120 Encoder w Communication error w Check the connection of the

0131 Encoder data error w Encoder fault. w Replace the encoder.

0132 Encoder back-up error w Encoder internal data w Replace battery.

0133 Encoder checksum w Encoder internal data w Replace battery.

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

0135 Encoder overheat w Overheat of encoder. w Cool the encoder

0240 Fault (Application w Turbo application program w Initialize Turbo application

0310 Verify error w Parameter setting is larger w Change the parameter.

0330 Illegal parameter w Parameter setting value w Change the parameter.

0370 Verify error w Incorrect parameter setting. w Change the parameter.

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1160 High temperature ___________________ _____________________

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1210 MCCB tripped w Control board fault. w Replace the servopack.

1220 Ground fault w Servopack fault. w Replace the servopack.

1230 Defective current offset w Servopack fault. w Replace the servopack.

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1260 Defective encoder w Encoder pulse detecting w Replace the encoder.

1270 Encoder overheat w Encoder section overheat. w Cool the encoder.

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1330 Position error w Control board fault. w Replace the servopack.

1340 Overload 1 w Control board fault. w Replace the servopack.

See the beginning

1350 Overload 2 w Control board fault. w Replace the servopack.

See the beginning

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1360 Broken PG line w Cable disconnection or w Check that the PG cable

See the beginning

1370 Over speed w Abnormal speed (The num- w Replace MSV01(MSV02)

1390 Speed error w Abnormal speed occurs in w Replace MSV01(MSV02)

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1450 Sytem error (TURBO) w For maintenance alarm code,

1470 Command error w For maintenance alarm code,

1500 Command response w For maintenance alarm code,

1510 MINI-PP communica- w For maintenance alarm code,

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

3010 Servo ON w Motor is operating at the w Review the servo ON timing.

3030 Regenerative Detects a regenerative circuit w Replace the servopack.

See the beginning

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

See the beginning

See the beginning

See the beginning

Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm

1160 High temperature _ ___