Maintenance Manual
Maintenance Manual
MAINTENANCE MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The FS100 OPERATOR’S MANUAL above is applicable to both FS100 and FS100L controllers.
FS100
www.motoman.com
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FS100
MANDATORY
• This manual explains maintenance procedures of the FS100
system. Read this manual carefully and be sure to understand its
contents before handling the FS100.
• General items related to safety are listed in Chapter 1: Safety of the
FS100 INSTRUCTIONS. To ensure correct and safe operation,
carefully read the FS100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
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FS100
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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FS100 Notes for Safe Operation
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programing pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop button does not function.
Fig. : Emergency Stop Button
TURN
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FS100 Definition of Terms Used Often in This Manual
CAUTION
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the power for the FS100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press an emergency stop button immediately
if there are problems.
The emergency stop button is located on the programing pendant.
CAUTION
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and
be sure that all other necessary tasks have been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external
wires.
• Return the programming pendant to a safe place after use.
If the programming pendant is inadvertently left on the manipulator,
on a fixture, or on the floor, the manipulator or a tool may collide with
the programming pendant during manipulator movement, which may
result in personal injury or equipment damage.
• Read and understand the Explanation of Warning Labels in the
FS100 Instructions before operating the manipulator.
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Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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FS100 Explanation of Warning Labels
DANGER
• The label described below is attached to the manipulator.
Observe the precautions on the warning labels.
Failure to observe this caution may result in injury or damage to
equipment.
Fig. : Warning Labels
WARNING Label A: WARNING Label B:
WARNING WARNING
Moving parts Do not enter
may cause robot
injury work area.
Top View
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Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
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FS100 Programming, Operation, and Maintenance Safety
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Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
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FS100 Customer Support Information
(937) 847-3200
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
techsupport@motoman.com
Please have the following information ready before you call Customer
Support:
• System FS100
• Controller FS100
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Table of Contents
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FS100 Table of Contents
7.4 Setting the Second Home Position (Check Point) ........................................................... 7-14
7.4.2 Procedure for the Second Home Position Setting (Check Point) ....................... 7-18
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8.4.2 Individual Window of the System Monitoring Time Display ................................ 8-17
9 Alarm............................................................................................................................................... 9-1
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FS100 Table of Contents
11.1 6 LED-Spot Indicator on the Main CPU Circuit Board (CPU201R)................................ 11-2
11.2 7-Segment LED Indicator on the Main CPU Circuit Board (CPU201R)......................... 11-3
11.2.2 Status of 7-Segment LED Indicator at Control Power Start-up (one digit) ....... 11-5
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1 Equipment Configuration
Converter unit
CSTR-COB02AA Major axes control circuit board
CSTR-IFBM3LA
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FS100 1 Equipment Configuration
1.2 Power Flow
CN1
QF1 Noise filter MC1
CIRCUIT POWER
Z1
PROTECTOR RELAY
Three phase 1
(Main circuit)
COOLING FAN
FAN
COOLING FAN REGENERATIVE
FAN
RESISTOR
CV1
CN301 (24V output)
CN304
(Control power supply) (Main circuit)
CN303
(PN) CN307
FBB
(Brake release) CN210
CN310
CAPACITOR (24V3 output) CN209 (Relay IO)
UNIT (CRBCC) CONVERTER (Protective
CN211
(External IO)
CN203 DC280V (CSTR-COB02AA) function)
CN302 CN201
(Condensor input) (Control power supply)
CN206 (Manipulator IO)
(5V CN308 CN306 (24V4 CN305 CN309 CN203 (PG signal)
output) output)
(Protective
function) CN207
(Brake output (24V))
CN208 (PP IO) (Protective
function) CN204
24V (to PP)
(Protective
function) (External axis PG signal)
+24V3
(Power supply CN202 (Protective CN205
X81 for control unit) function)
+24V4
P.P(OPTION)
(Servo control)
(Brake
power supply) CN200 (FBB control)
CN3
JAPMC-CP3201-E
CN4(USB) CPU201
CN1(RS232C)
16.5V
CN6(MIII)
CN10(BAT)
CN3(Ethernet) (MIII)CN5 PN MANIPULATOR
DC280V
CN2(Ethernet)
S-AXIS MOTOR
F1 (250V 0.6A)
CN3 LIO08
IO for the user (1) POWER
IO for the user (2) CSTR-MBB
CN54
(PN) CN53 CN52 CN120 L-AXIS MOTOR
Safety (Gate Brake
(Control (FBB control)
CN5(OT1,OT2) (+24V3)CN6
power power supply)
supply) POWER
CN2(PPESP,DSW) CN55 CN56 (Safety) CN8
CN1(PBESP) (HWBB,EDM)CN4 U-AXIS MOTOR
Brake
CN3 (SAFF,ONEN,EXESP) AMP1
POWER
(ESPOUT,DSWOUT) CN101 CN102
Motor power
CN110 CN51
CNTR-01 CN100
AMP2
CN101 CN102
CN111 CN51
CN101
AMP3
217IF-02 CN101 CN102
CN112 CN51
CN102
T-AXIS MOTOR
X21 Brake output
Brake
AMP6 Motor power
CN101 CN102 POWER
CN115 CN51
CN105
IFM
CN6A CN50 CN51
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CV1
CN301 (24V output)
(Control CN304 CN303
power supply) (Main circuit) (PN) CN307
FBB
(Break release)
CN210
CN310
(24V3 output) CN209 (Relay IO)
CONVERTER CN211
(Protective (External IO)
(CSTR-COB02AA) function)
CN302 CN201
(Control (Control power supply)
(Condensor input) (ManipulatorIO) CN206
power supply)(Servo control)
CN308 CN306 CN305 CN309 (PG signal) CN203 Encoder signal
(5V output) (24V4 output)
(Protective
function) CN207
(Protective
CN208 (PP IO) function) CN204
Power supply turning (Protective
function)
ON signal (External axis PG signal)
CN202 (Protective CN205
X81 function)
P.P(OPTION) (Break power supply) (External axis PG signal)
CN200 (FBB control)
CN3
JAPMC-CP3201-E
FBA control signal
CN4(USB) CPU201
(Encoder signal)
CN1(RS232C)
CN6(MIII)
(Control power supply)
CN10(BAT)
(Gate power supply)
MANIPULATOR
(FBB control)
CN3(Ethernet) (MIII)CN5
Ethernet (to PP)
CN2(Ethernet)
PP emergency stopDSW signal
S-AXIS MOTOR
CN3 LIO08
Movement block signal
Safety (PN)
CN5(OT1,OT2) (+24V3)CN6
CN2(PPESP,DSW) CN55 CN56 ENCODER
(Safety) CN8
CN1(PBESP) (HWBB,EDM)CN4 U-AXIS MOTOR
CN3 (SAFF,ONEN,EXESP)
Safety signal AMP1
(ESPOUT,DSWOUT) CN101 CN102
CN51 ENCODER
CNTR-01 CN100
AMP2
CN101 CN102
CN51
CN101
AMP3
217IF-02 CN101 CN102
CN51
CN102
T-AXIS MOTOR
AMP6
CN101 CN102
CN115 CN51 ENCODER
CN105
Encoder sigal
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FS100 2 Security System
2.1 Protection Through Security Mode Settings
2 Security System
Operation Mode This mode allows basic operation of the robot (stopping,
starting, etc.) for people operating the robot work on the
line.
Editing Mode This mode allows the operator to teach and edit jobs and
robot settings.
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FS100 2 Security System
2.1 Protection Through Security Mode Settings
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FS100 2 Security System
2.1 Protection Through Security Mode Settings
2. Select {SECURITY}.
– The selection window of security mode appears.
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Management Mode:[99999999]
5. Press [ENTER].
– The input user ID is compared with the user ID of the selected
security mode. When the correct user ID is entered, the security
mode is changed.
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FS100 2 Security System
2.1 Protection Through Security Mode Settings
2.1.2 User ID
User ID is requested when Editing Mode or Management Mode is
operated.
User ID must be between 4 characters and 8, and they must be numbers
and symbols. (“0 to 9”,“-” and “.”)
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FS100 3 Maintenance and Inspections
3.1 Daily Inspections
WARNING
• Maintenance and inspections should be carried out by the qualified
worker.
Failure to observe this caution may result in electric shock or injury.
WARNING
• Do not touch the cooling fan or other equipment while the power is
turned ON.
Failure to observe this caution may result in electric shock or injury.
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FS100 Controller Check for damages Check visually As required Check for damages
exterior and cracks and loose
connectors
Power supply cable Check for damages or Check visually As required Check for damages
connections. and loose
connectors
Manipulator cable Check for damages or Check visually As required Check for damages
(between the FS100 connections. and loose
and the manipulator) connectors
Cover mounting Check for defect or Use screw driver As required Tighten loose
screws loose of the screws screws
Cooling fan Check the operation Check visually As required When the power is
turned ON
Emergency stop Check the operation By activating the Before the When the SERVO
button 1) button manipulator is turned ON
(programming operation
pendant)
Enable switch Check the operation By activating the Before the During the teach
(programming switch manipulator mode
pendant) operation
1 Be sure to confirm that the SERVO can be turned OFF by pressing the external emergency button when the
programming pendant is not used.
The external emergency button is prepared by the user.
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FS100 3 Maintenance and Inspections
3.2 Cooling Fan Inspections
Air intake
Air outlet
Air outlet
(Backside View)
Cooling fan installing direction
Air outlet
Air outlet
(Top View)
Cooling wind direction
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REMOTE TEACH
PLAY
SERVO ON
(3) When the enable switch is grasped lightly, the servo power is
turned ON.
When the enable switch is grasped firmly or released, the servo
power is turned OFF.
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FS100 3 Maintenance and Inspections
3.5 Battery Inspections
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programing pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop button does not function.
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and
16-17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Observe the following precautions when performing teaching
operations within the manipulator’s operating range:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the power for the FS100.
– Moving the manipulator with the programming pendant.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press an emergency stop button immediately
if there are problems.
The emergency stop button is located on the programing pendant.
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FS100 4 Preparation before Replacing Parts
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repare them
immediaterly, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external
wires.
• Return the programming pendant to a safe place after use.
If the programming pendant is inadvertently left on the manipulator,
on a fixture, or on the floor, the manipulator or a tool may collide with
the programming pendant during manipulator movement, which may
result in personal injury or equipment damage.
OK?
No
Yes
End
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FS100 5 Replacing Parts
5.1 Fuse Replacement
5 Replacing Parts
WARNING
• To prevent anyone inadvertently turning ON the power supply
(including a pressurized air), put up a warning sign such as "DO
NOT TURN ON THE POWER" before the maintenance, inspection,
or wiring operation.
WARNING
• Maintenance and inspections should be carried out by the qualified
worker.
Failure to observe this caution may result in electric shock or injury.
I/O power supply fuse Front side of the FS100 0312.600, 250V, 0.6A, Littel
(F1: left side of the following figure) 6.3 dia. x 32 mm,
fast-blow type
Fuse for regenerative resistor cooling fan Front side of the FS100 312001, 250V, 1A, Littel
protection 2) 6.3 dia. x 32 mm,
(F2: right side of the following figure) fast-blow type
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F1 F2
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FS100 5 Replacing Parts
5.2 Interior Circulation Fan Replacement
Replacement Procedures
1. Disconnect plug codes connected to the fan.
(Remove the ground wirings screwed to the fan, too)
2. Remove the screws (3 places) fixing the fan and the fan guard.
3. Uninstall the fan from the FS100.
4. Install the new fan to the FS100.
(When installing the fan, be carefull to its installing direction so that the
air is drewn inside the FS100.)
5. Tighten the screws (3 places) to fix the fan and the fan guard.
6. Connect all the disconnected plug codes and the ground wirings.
(Connect the plug code securely so that there is no space between the
plug code and the fan. Also, connect the ground wirings firmly.)
Air outlet
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WARNING
• To perform this operation, it is required to open the top plate of the
FS100 while the power is turned ON.
Do NOT open the plate to perform the operation within five minutes
after turning OFF the FS100 power supply and primary power source.
• Do NOT touch units or terminal parts within five minutes after
turning OFF the FS100 power supply.
Failure to observe this warning may result in electric shocks.
• Close the top plate as soon as the maintenance work such as the
inspection or maintenance, etc. is completed.
Failure to observe this warning may result in electric shocks.
WARNING
• To prevent anyone inadvertently turning ON the power supply
during maintenace operation, put up a warning sign such as “DO
NOT TURN ON THE POWER” at the primary power supply (knife
switch, wiring circuit breaker, etc.) .
Failure to observe this warning may result in electric shocks or injury.
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FS100 5 Replacing Parts
5.3 Battery Replacement
Replacement Procedure
1. Uninstall the top plate and loosen the strap which is fixing the battery.
2. Disconnect the connector from the battery extension lead wire and
remove the battery.
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FS100 5 Replacing Parts
5.3 Battery Replacement
Wrong example
Do not fix the battery lead parallel to
the inner side of the controller.
Fix the battery lead wire to the inner side of the controller.
The battery might fall off due to the vivration, etc.,
if the lead wire is fixed parallel to the controller.
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FS100 replacement
4
Preparations before
replacing parts
5.4.1
Backup device
prepartion
5.4.2
System backup
5.4.3
FS100 replacement
7
Operations
after replacing parts
End
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FS100 5 Replacing Parts
5.4 FS100 Replacement
<Recommended CompactFlash>
No. Manufacturer Model Remarks
1 Hagiwara Solutions Co., Ltd. MCF10P-256MS 256MB
2 Hagiwara Solutions Co., Ltd. MCF10P-512MS 512MB
3 Hagiwara Solutions Co., Ltd. MCF10P-A01GS 1GB
4 Hagiwara Solutions Co., Ltd. MCF10P-A02GS 2GB
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4. Select {SAVE}.
– The save display appears.
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FS100 5 Replacing Parts
5.4 FS100 Replacement
5. Select {CMOS}.
– The confirmation dialog box appears.
6. Select {YES}.
– Select {YES} to save the CMOS data into a CompactFlash card.
– When saving the file, if the CMOS.BIN file already exists in the
CompactFlash card, the following confirmation dialog box appears.
7. Select {YES}.
– The CMOS.BIN file is overwritten in the CompactFlash card.
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WARNING
• To prevent anyone inadvertently turning ON the power supply
during maintenace operation, put up a warning sign such as “DO
NOT TURN ON THE POWER” at the primary power supply (knife
switch, wiring circuit breaker, etc.).
Failure to observe this warning may result in electric shocks or injury.
CAUTION
• Lift, move, or install the FS100 by two or more persons.
– Approx. mass of FS100: 20 kg per unit
• Use a platform truck to carry the FS100.
– Avoid jarring, dropping, or hitting the FS100 during handling.
Failure to observe these cautions may cause the FS100 to fall down,
which may result in personal injury or equipment damage.
Replace the FS100 following the procedures below, after the FS100
data is saved.
1. Turn OFF the main power supply of the FS100.
2. Turn OFF the primary power supply of the FS100.
3. Remove all the cables connected to the FS100.
Cables connected to
User I/O Circuit Board and
I/O Relay Circuit Board
X81 Connector
for Programming Pendant
CN1
Power supply connector
Front view of the FS100
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FS100 5 Replacing Parts
5.4 FS100 Replacement
X11/1BC
X21/2BC Robot signal cable
Power cable
START HOLD
REMOTE TEACH
PLAY
X- X+ SERVO ON
X- X+
S- S+ R- R+
HIGH
SPEED
Y- Y+ Y- Y+
L- L+ B- B+
FAST
Z- Z+ MANUAL SPEED Z- Z+
U- U+ T- T+
SLOW
E- E+ 8- 8+
SHIFT
INTER
LOCK 7SYNCRO 8 9 TEST
START SHIFT
SINGLE
AUX
MOTION 0 TOOL OF TOOL OF
MODIFY ENTER
TYPE JOB
WARNING
• Do not turn ON the servo power until the system loading completes
even if the FS100 is replaced and the cables are connected.
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FS100 5 Replacing Parts
5.4 FS100 Replacement
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CAUTION
When the “CMOS load” is performed, the current CMOS data is
replaced with the CMOS data (the contents of “CMOS.BIN”) in the
selected device.
After the “CMOS load”, check if the contents written in the FS100 are
the same as before, and check to be sure that safety is confirmed with
the current manipulator position and also confirm these motions shown
in the list below. After that, start the manipulator’s operation.
• Confirm that axes can be operated normally in the teach mode.
• Move all axes to the pulse value “0” and confirm that they
correspond to the home position.
• Press the emergency stop button on the programming pendant to
confirm that it performs properly.
• Perform the jobs that were registered by the FWD operation to
confirm that they can be operated normally.
• Confirm that the manipulator can be started up safely at its current
position.
If the manipulator is started up before confirming these items above,
injury may result from unintentional or unexpected manipulator motion.
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FS100 6 Recommended Spare Parts
6.1 List of Accessories
Accessory No.1
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CAUTION
• It is recommended to use the parts and components in the following
table as spare parts for the FS100.
Product performance cannot be guaranteed when using spare parts
from any company other than YASKAWA.
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FS100 7 Operations After Replacing Parts
WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is pressed.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop button does not function.
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and
16-17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Observe the following precautions when performing teaching
operations within the manipulator’s operating range:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the power for the FS100.
– Moving the manipulator with the programming pendant.
Injury may result if anyone enters the working envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there are problems.
Emergency stop buttons is located at the upper right of the
programming pendant.
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CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repare them
immediaterly, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external
wires.
• Return the programming pendant to a safe place after use.
If the programming pendant is inadvertently left on the manipulator,
on a fixture, or on the floor, the manipulator or a tool may collide with
the programming pendant during manipulator movement, which may
result in personal injury or equipment damage.
To calibrate the home position, use the axis keys to calibrate the mark for
the home position on each axis so that the manipulator can take its
posture for the home position. There are two operations for home position
calibration:
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FS100 7 Operations After Replacing Parts
7.1 Home Position Calibration
If the absolute data of the home position is already known, set the
absolute data again after completing home position registration.
Home Position
SUPPLE-
MENT The home position is the position with the pulse value "0" for
each axis. See section 7.1.3 “Manipulator Home Position”.
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FS100 7 Operations After Replacing Parts
7.1 Home Position Calibration
7. Select “YES”.
– Displayed position data of all axes are registered as home position.
When “NO” is selected, the registration will be canceled.
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5. Select "YES".
– Displayed position data of the axis are registered as home position.
When “NO” is selected, the registration will be canceled.
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FS100 7 Operations After Replacing Parts
7.1 Home Position Calibration
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FS100 7 Operations After Replacing Parts
7.1 Home Position Calibration
5. Select "YES".
– The all absolute data are cleared. When "NO" is selected, the
operation will be canceled.
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FS100 7 Operations After Replacing Parts
7.2 Position Deviation Check Using the Check Program
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FS100 7 Operations After Replacing Parts
7.3 Checking of the Check Program
2. Calculate the difference between the command position pulse and the
current position pulse.
The difference pulse = Command position pulse − Current position
pulse
3. On the HOME POSITIONING window, add the difference pulse value
to the absolute data of the axis whose motor or encoder, etc. was
replaced.
4. Modify the home position data by following the procedures described
in section 7.1.2.3 “Changing the Absolute Data”.
5. Confirm that the command position pulse and the current position
pulse coincide.
– The home position data have been corrected.
– Proceed to section 7.4 “Setting the Second Home Position (Check
Point)”.
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WARNING
• Be aware of safety hazards when performing the position
confirmation of the second home position (check point).
Abnormality of the PG system may be a cause for alarm. The
manipulator may operate in an unexpected manner, and there is a risk
of damage to equipment or injury to personnel.
• Before operating the manipulator, check that the SERVO ON lamp
goes out when the emergency stop button on the programming
pendant is pressed.
Injury or damage to machinery may result if the manipulator cannot be
stopped in case of an emergency.
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and
16-17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Observe the following precautions when performing teaching
operations within the manipulator’s operating range:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no one is
in the manipulator’s operating range, and be sure that you are in a
safe place when:
– Turning ON the FS100 power.
– Moving the manipulator with the programming pendant.
Injury may result from contact with the manipulator if persons enter the
manipulator’s operating range.
Always press the emergency stop button immediately if there are
problems.
Emergency stop button is attached on the programming pendant.
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FS100 7 Operations After Replacing Parts
7.4 Setting the Second Home Position (Check Point)
CAUTION
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and
be sure that all other necessary tasks have been performed.
– Check for problems in manipulator movement.
– Check for damage to the insulation and sheathing of external
wires.
• Return the programming pendant to a safe place after use.
If the programming pendant is inadvertently left on the manipulator,
on a fixture, or on the floor, the manipulator or a tool may collide with
the programming pendant during manipulator movement, which may
result in personal injury or equipment damage.
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If there is an error with the PG system, the manipulator may stall when
playback is started. If the absolute data allowable range error alarm has
occurred, playback and test runs will not function and the position must be
checked.
Reset alarm
1, Position confirmation
operation
2,
Compare second home NG
position (check point)*
pulses with current
position pulses Alarm occurs again
OK
3, Correct defective axis
Replace PG system
Home position calibration
Position checking point
Playback possible
1. Position Check
After the "OUT OF RANGE (ABSO DATA)" alarm occurs, move to the
second home position using the axis keys and perform the position
confirmation. Playback, test runs, and FWD operation will not function
unless "CONFIRM POSITION" is performed.
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FS100 7 Operations After Replacing Parts
7.4 Setting the Second Home Position (Check Point)
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7.4.2 Procedure for the Second Home Position Setting (Check Point)
Apart from the "home position" of the manipulator, the second home
position can be set up as a check point for absolute data. Use the
following steps to set the specified point.
If two or more manipulators or stations are controlled by one FS100, the
second home position must be set for each manipulator or station.
GO BACK
3. Press the page key ,or select "PAGE" to display the selection
PAGE
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FS100 7 Operations After Replacing Parts
7.4 Setting the Second Home Position (Check Point)
WARNING
• Be aware of safety hazards when performing the position
confirmation of the specified point.
Abnormality of the PG system may be cause for alarm. The
manipulator may operate in an unexpected manner, and there is a risk
of damage to equipment or injury to personnel.
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GO BACK
4. Press [FWD].
– TCP moves to the second home position. The robot moving speed is
set as selected manual speed.
5. Select {DATA} under the menu.
6. Select {CONFIRM POSITION}.
– The message “Home position checked” is shown.
Pulse data of the second home position and current pulse data are
compared. If the compared error is in allowed range, playback
operation can be done.
If the error is beyond the allowed range, the alarm occurs again.
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FS100 8 System Diagnosis
8.1 System Version
8 System Diagnosis
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FS100 8 System Diagnosis
8.3 Input/Output Status
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FS100 8 System Diagnosis
8.3 Input/Output Status
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FS100 8 System Diagnosis
8.3 Input/Output Status
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Signal
number
A search for the signal number can be made in the following two ways.
• Direct search on the UNIVERSAL/SPECIFIED INPUT/OUTPUT
window
• Search from the menu
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FS100 8 System Diagnosis
8.3 Input/Output Status
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FS100 8 System Diagnosis
8.3 Input/Output Status
Relay number
A search for the relay number can be made in the following two ways.
• Direct search on the UNIVERSAL/SPECIFIED INPUT/OUTPUT
window
• Search from the menu
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FS100 8 System Diagnosis
8.3 Input/Output Status
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Signal name
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FS100 8 System Diagnosis
8.3 Input/Output Status
3. Select {RENAME}.
– The window for character input appears.
4. Enter the signal name.
5. Press [ENTER].
– New signal name is registered.
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1
2
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FS100 8 System Diagnosis
8.4 System Monitoring Time Display
The total time of each control group here is not always the
NOTE same as the time in the SYS MONITORING TIME window
because these windows show time as seen from the
individual control group.
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2. Select “YES”.
– The cumulative time value at the cursor line is reset to 0, and a new
time measurement begins.
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FS100 8 System Diagnosis
8.5 Alarm History
GO BACK
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4. Select “YES”.
– The alarm history displayed is reset.
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FS100 8 System Diagnosis
8.6 I/O Message History
Press [SELECT], and numeric values can now be entered. Input the
history number, and press [ENTER]. The search for the input history
number begins, and the I/O message that appeared on the window is
displayed.
8.6.1.1 Search
Use the following operation to search for the I/O message history.
1. Select {EDIT} under the menu.
2. Select {SEARCH}.
– The character input line appears.
3. Enter the history No.
4. Press [ENTER].
– The search for the input history number begins, and the I/O
message is displayed.
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3. Select “YES”.
– The displayed I/O message history is cleared.
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FS100 8 System Diagnosis
8.7 Position Data When Power is Turned ON/OFF
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FS100 8 System Diagnosis
8.9 Servo Monitoring
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FS100 8 System Diagnosis
8.9 Servo Monitoring
6. Select a menu.
– The type of monitor-related information is changed.
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FS100 9 Alarm
9.1 Outline of Alarm
9 Alarm
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FS100 9 Alarm
9.2 Alarm Display
Alarm number
Sub data
Alarm message
If more than one alarm occurs simultaneously, all the alarms are
displayed.
Scroll the viewing area with the cursor to view the alarm that is not
currently displayed on the viewing area.
The following operations are available in the alarm status: window
change, mode change, alarm reset, and emergency stop. If the window is
changed to another window during alarm occurrence, the ALARM window
can be shown again by selecting {SYSTEM INFO} under the main menu
and then selecting {ALARM}.
• Minor Alarms
Select "RESET" on the ALARM window to release alarms.
Or, turn ON the system signal "ALARM RESET" when using an
external input signal (system input).
• Major Alarms
If a severe alarm such as hardware failure occurs, servo power is
automatically shut OFF and the manipulator stops. Turn OFF the
main power supply, remove the cause of the alarm, and then turn ON
the power supply again.
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FS100 9 Alarm
9.2 Alarm Display
Sub data such as data for the axis where the alarm occurred, may
also be displayed for some alarms.
• Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
• Binary data
The alarm occurrence data becomes “1”.
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
• Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 2 [SLURBT]
With base axis: Base 1 to 2 [ 1 2]
With station axis: Stations 1 to 3 [ 1 2 3 ]
• 123 data
The data for which the alarm occurred is highlighted.
[123]
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FS100 9 Alarm
9.2 Alarm Display
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FS100 9 Alarm
9.3 Display of Alarm Details
Press [Select] after moving the cursor to the subject alarm on the alarm
window to display its “content”, “cause” and “measure”.
Skip displaying the alarm window to directly display this breakdown
window is possible by specifying the parameter when an alarm occurs.
9.3.1 Parameter
S2C406 Alarm Details Direct Display 0: Invalid / 1: Valid
Page
Alarm No.
Alarm explanation
Alarm title
Same as alarm
window data.
(Ordinary window)
Alarm content
{Right/Left} button
Cause
Measure
Page
Displays
the page number of the alarm whose detail window is currently displayed
/ the total alarm number occurred coincidentally.
Alarm No.
Displays the alarm number with decimal 4 digit.
Sub data
Displays the sub code number defined to each alarm.
Alarm content
Displays the content of the alarm.
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FS100 9 Alarm
9.3 Display of Alarm Details
{Right/Left} button
This button appears when there can be several “cause”s and “measure”s
to one alarm. Press this to right/left ward to alternate the “cause” and the
“measure”.
Cause
Displays the cause of an alarm.
Measure
Displays the recovery method from the alarming state.
{Reset} button
Press this button to reset the alarm.
{Page} button
Press this button to display the page number inputting area.
This area appears when several alarms occur at a time.
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FS100 9 Alarm
9.3 Display of Alarm Details
[Select]
GO BACK GO BACK
SHIFT key
SHIFT
PAGE key
PAGE
PAGE key PAGE
{PAGE} button
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FS100 9 Alarm
9.4 Alarm Message List
CAUTION
• Before handling the main CPU board (CPU-201R) for any
remedies, personnel must be appropriately skilled in maintenance
mode operation.
• CPU-201R is saving important file data for the user program
through its battery backup operation. Contact your YASKAWA
representatives when measures for CPU-201R alarms are
considered to be needed. Careless operation may delete
registered data.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
20 CPU COMMUNICATION 1 No response was sent from the Software operation error (1)Turn the power OFF then back ON.
ERROR Main CPU board when the control occurred (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
power turned ON. replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
50 No response was sent from the Setting error (1)Turn the power OFF then back ON.
servo board #1 when the control (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
power turned ON. replacement to be safe.
In this case, the FS100 may make
wrong judgement that a signal
such as external hold signal is
input. However, it is caused by the
communication error with Servo
control board #1. Therefore,
execute the following measure.
9-9
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
converter unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
21 COMMUNICATION 50 The communications CPU for the Setting error (1)Turn the power OFF then back ON.
ERROR (SERVO) Servo control board #1 detected (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
an error when the control power replacement to be safe.
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
9-10
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
51 The communications CPU for the Setting error (1)Turn the power OFF then back ON.
Servo control board #2 detected (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
an error when the control power replacement to be safe.
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
30 ROM ERROR 1 The CPU-201R system program Software operation error (1)Turn the power OFF then back ON.
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is damaged. occurred (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
50 The system program of Servo Software operation error (1)Turn the power OFF then back ON.
control board #1 is damaged. occurred (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
51 The system program of Servo Software operation error (1)Turn the power OFF then back ON.
control board #2 is damaged. occurred (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
60 COMMUNICATION 0 The IO module board connected Software operation error (1)Turn the power OFF then back ON.
ERROR with 0th serial bus exists. occurred (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
(I/O MODULE) replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-11
replacement to be safe.
1 An error was detected in Setting error 1)Check the following settings.
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 1st ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (1)Turn the power OFF then back ON.
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(I/O module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 An error was detected in Setting error (1)Check the following settings.
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 2nd ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (1)Turn the power OFF then back ON.
(I/O module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
3 An error was detected in Setting error (1)Check the following settings.
9-12
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 3rd ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (1)Turn the power OFF then back ON.
(I/O module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 An error was detected in Setting error (1)Check the following settings.
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 4th ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
5 An error was detected in Setting error (1)Check the following settings.
9-13
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 5th ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
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Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
6 An error was detected in Setting error (1)Check the following settings.
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 6th ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
7 An error was detected in Setting error (1)Check the following settings.
9-14
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 7th ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure(I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
8 An error was detected in Setting error (1)Check the following settings.
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
module board connected with 8th ·I/O module settings in maintenance mode
serial bus when the control power
turned ON.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
100 COMMUNICATION 1 The error was detected during the Setting error (1)Turn the power OFF then back ON.
9-15
ERROR (servo#1) check of the serial communication (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
watchdog data. replacement to be safe.
Counter value received from
Servo control board is invalid.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
RE-CHO-A111
2 The error was detected during the Setting error (1)Turn the power OFF then back ON.
check of the number of the serial (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
communications. replacement to be safe.
Counter value received from
Servo control board is OFF by
one cycle.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
101 COMMUNICATION 1 The error was detected during the Setting error (1)Turn the power OFF then back ON.
ERROR (servo#2) check of the serial communication (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
watchdog data. replacement to be safe.
Counter value received from
Servo control board is invalid.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
9-16
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Converter unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
2 The error was detected during the Setting error (1)Turn the power OFF then back ON.
check of the number of the serial (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
communications. replacement to be safe.
Counter value received from
Servo control board is OFF by
one cycle.
Connection failure (1)Turn the power OFF then back ON.
RE-CHO-A111
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Converter unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
200 MEMORY ERROR 0 The RC parameter is damaged. Data error (1)Turn the power OFF then back ON.
(PARAMETER FILE) (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
1 The RO parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-17
replacement to be safe.
2 The SV parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
3 The SVM parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
RE-CHO-A111
4 The SC parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 The SD parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
6 The CIO parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
7 The FD parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-18
replacement to be safe.
8 The AP parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
9 The RS parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
10 The SE parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
RE-CHO-A111
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
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replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
11 The SVC parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
12 The AMC parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
13 The SVP parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-19
replacement to be safe.
14 The MF parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
15 The SVS parameter is damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
RE-CHO-A111
210 MEMORY ERROR The system configuration Main CPU board failure (1)Turn the power OFF then back ON.
(SYSTEM CONFIG- information data are damaged. (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
DATA) replacement to be safe.
220 MEMORY ERROR 0 The management data of job files Data error (1)Turn the power OFF then back ON.
(JOB MNG DATA) are damaged. (2)If the alarm occurs again, initialize the job file in maintenance mode, and
then load the data (job, variable data, Robot calibration data) saved in the
external memory device.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
1 The job files are damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the job file in maintenance mode, and
then load the data (job, variable data, Robot calibration data) saved in the
external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
2 The management data of position Data error (1)Turn the power OFF then back ON.
data files are damaged. (2)If the alarm occurs again, initialize the job file in maintenance mode, and
then load the data (job, variable data, Robot calibration data) saved in the
external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
9-20
3 Memory and play back file is Data error (1)Turn the power OFF then back ON.
damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
230 MEMORY ERROR The CIO ladder file is damaged. Data error (1)Turn the power OFF then back ON.
(LADDER PRG FILE) (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
290 MEMORY ERROR The network setting file is Data error (1)Turn the power OFF then back ON.
(NETWORK SETUP) damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then set the network again.
Main CPU board failure (1)Turn the power OFF then back ON.
RE-CHO-A111
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
300 VERIFY ERROR 2 CIO parameter error. Setting error (1)Check the following settings.
(SYSTEM CONFIG- ·I/O module settings in maintenance mode
DATA)
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
4 Axis-related parameter error. Setting error (1)Check the following settings.
·Control group settings in maintenance mode
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
5 Sensor-use parameter error. Setting error (1)Check the following settings.
·The optional board setting in maintenance mode
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
7 The set optional functions are Setting error (1)Check the following settings.
9-21
different from those of the ·The optional board setting in maintenance mode
mounted optional board.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
8 IO type error (combination Setting error (1)Check the following settings.
impossible to coexist). ·I/O module settings in maintenance mode
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
301 VERIFY ERROR Sub Code: Control group Setting error (1)Check the following settings.
(OVERRUN INPUT SET) ·Connection settings (OT) in maintenance mode
Parameter specification and OT
RE-CHO-A111
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1 The CRC data in CMOS memory Setting error (1)Check the following settings.
and the CRC data calculated by ·Set the security mode to MANAGEMENT MODE.
the system software are ·Data rebuild in maintenance mode
inconsistent.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
320 VERIFY ERROR 1 The I/O module connected to the Setting error (1)Check the following settings.
(I/O MODULE) serial bus #1 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
·Corresponding IO module
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
2 The I/O module connected to the Setting error (1)Check the following settings.
serial bus #2 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
·Corresponding IO module
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
3 The I/O module connected to the Setting error (1)Check the following settings.
serial bus #3 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
4 The I/O module connected to the Setting error (1)Check the following settings.
serial bus #4 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 The I/O module connected to the Setting error (1)Check the following settings.
serial bus #5 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
serial bus #6 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
serial bus #7 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure(I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
·Corresponding IO module
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
8 The I/O module connected to the Setting error (1)Check the following settings.
serial bus #8 is different from the ·The rotary switch setting which specifies slot numbers of each I/O module
function of the set I/O module. ·I/O module settings in maintenance mode
Connection failure (1)Turn the power OFF then back ON.
9-25
(2)If the alarm occurs again, check the connecting or inserting state of the
following cables or connectors.
·IO module cable of the corresponding slot.
·Terminator
·24V power of the corresponding IO module.
Board failure (I/O module) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN
before replace the board to be safe.
·Corresponding IO module
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
330 VERIFY ERROR Main CPU board failure (1)Turn the power OFF then back ON.
(APPLICATION) (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
RE-CHO-A111
replacement to be safe.
390 VERIFY ERROR Illegal instruction cycle is set. Setting error (1)Check the following settings.
(SEGMENT CLOCK) ·Instruction execution cycle
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
400 PARAMETER 50 An error occurred during the Setting error (1)Check the following settings.
TRANSMISSION ERROR parameter/file transfer to the 1st ·Control group settings in maintenance mode
Servo control board. ·The Servo control board rotary switch setting (0) of the corresponding node
number (SV#1)
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
51 An error occurred during the Setting error (1)Check the following settings.
parameter/file transfer to the 2nd ·Control group settings in maintenance mode
Servo control board. ·The Servo control board rotary switch setting (1) of the corresponding node
number (SV#2)
9-26
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
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(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
51 An error occurred during startup Setting error (1)Check the following settings.
sequence processing with the ·Control group settings in maintenance mode
servo CPU of 2nd Servo control ·The Servo control board rotary switch setting (1) of the corresponding node
board, and the system did not number (SV#2)
startup normally.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
9-27
500 SEGMENT PROC NOT Setting error (1)Turn the power OFF then back ON.
READY (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
510 SOFTWARE VERSION 50 1st Servo control board's interface Main CPU board failure (1)Turn the power OFF then back ON.
UNMATCH version is not corresponding to (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
Main CPU board replacement to be safe.
51 2nd Servo control board's Main CPU board failure (1)Turn the power OFF then back ON.
interface version is not (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
corresponding to Main CPU replacement to be safe.
board.
RE-CHO-A111
520 AXIS LIMIT OVER 0 Setting error (1)Check the following settings.
·Control group settings in maintenance mode
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
710 LADDER INITIALIZE Data error (1)Turn the power OFF then back ON.
ERROR (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
720 LADDER PROGRAM 1 An error was found in the relay Data error (1)Turn the power OFF then back ON.
ERROR No. specification. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
2 An error was found in the register Data error (1)Turn the power OFF then back ON.
No. specification. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-28
replacement to be safe.
3 An incorrect instruction was set. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
4 Output register is used Data error (1)Turn the power OFF then back ON.
redundantly. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
5 Output relay is used redundantly. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
RE-CHO-A111
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
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replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
6 Unconnected relay exists. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
7 The STR instructions are Data error (1)Turn the power OFF then back ON.
overused. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
8 The AND-STR instructions are Data error (1)Turn the power OFF then back ON.
overused. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-29
replacement to be safe.
9 A syntax error was found in the Data error (1)Turn the power OFF then back ON.
CNT instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
10 The head of the block starts with Data error (1)Turn the power OFF then back ON.
an instruction other than the STR (2)If the alarm occurs again, initialize the appropriate data in maintenance
instruction. mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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11 Excessive machine codes Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
12 The last instruction is not the END Data error (1)Turn the power OFF then back ON.
instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
13 An error was found in the PART Data error (1)Turn the power OFF then back ON.
instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
14 An error was found in the GOUT Data error (1)Turn the power OFF then back ON.
instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
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replacement to be safe.
15 The No. of operand is incorrect. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
16 The constant value is incorrect. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
17 The step capacity exceeds the Data error (1)Turn the power OFF then back ON.
memory capacity. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
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Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
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replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
18 The number of operation Data error (1)Turn the power OFF then back ON.
instructions exceed the (2)If the alarm occurs again, initialize the appropriate data in maintenance
permissible value. mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
19 A syntax error was found in the Data error (1)Turn the power OFF then back ON.
CNT instruction or TMR (2)If the alarm occurs again, initialize the appropriate data in maintenance
instruction. mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
20 A syntax error was found in the Data error (1)Turn the power OFF then back ON.
JMP-LABEL instructions. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
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replacement to be safe.
21 The label of JMP destination does Data error (1)Turn the power OFF then back ON.
not exist. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
790 MEMORY BATTERY Main CPU board battery is Connection failure (1)Confirm that the battery is appropriately connected to the main CPU board.
WEAK weakening.
Connection failure (1)Replace the battery in accordance with the instructions in FS100
MAINTENANCE MANUAL.
820 CNTR01R HARDWARE Sub Code: Option board. Number CNTR01R board failure (1)Turn the power OFF then back ON.
ERROR × 100 factor (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
821 CNTR01R SOFTWARE Sub Code: Option board. CNTR01R board failure (1)Turn the power OFF then back ON.
ERROR Number×100 factor (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
factor: before replacing the board to be safe.
1 WDG TIMEOVER
2 ADDRESS ERR(READ)
EXCEPTION
3 ADDRESS ERR(WRITE)
EXCEPTION
4 UNJUST INST
EXCEPTION
5 UNJUST SLOT
EXCEPTION
822 CNTR01R WDG ERROR 100 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #1 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
200 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #2 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
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300 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #3 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
400 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #4 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
500 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #5 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
600 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #6 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
700 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #7 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
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800 A Watchdog err was detected in CNTR01R board failure (1)Turn the power OFF then back ON.
the Option #8 board. (2)If the alarm occurs again, replace the CNTR01R board. Save the CMOS.BIN
before replacing the board to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
910 CPU ERROR 1 An error was detected in the CPU. Main CPU board failure (1)Turn the power OFF then back ON.
(CPU-201R) (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
920 BUS ERROR 1 The JL chip does not operate Main CPU board failure (1)Turn the power OFF then back ON.
(CPU-201R) normally. (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
950 CPU ERROR An error was detected in the CPU Connection failure (1)Turn the power OFF then back ON.
(servo#1) of servo board #1. (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
951 CPU ERROR An error was detected in the CPU Connection failure (1)Turn the power OFF then back ON.
(servo#2) of servo board #2. (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
9-33
replacement to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
990 SYSTEM ERROR 1 Power Lost Signal Error Main CPU board failure (1)Turn the power OFF then back ON.
(Main CPU) (2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
1000 ROM ERROR Software operation error (1)Turn the power OFF then back ON.
(Main CPU) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
1001 ROM ERROR 10 1*:A checksum error occurred in Servo control board failure (1)Turn the power OFF then back ON.
(SERVO) the board or the EEPROM. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(*: axis No.) replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
20 The SRDY signal did not turn ON Servo control board failure (1)Turn the power OFF then back ON.
after the WRITE ENABLE (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
command was written. (EEPROM replace controller to be safe.
WRITE ENABLE error)
21 The SRDY signal did not turn ON Servo control board failure (1)Turn the power OFF then back ON.
after the WRITE PROTECT (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
command was written. (EEPROM replace controller to be safe.
WRITE PROTECT error)
22 The SRDY signal did not turn ON Servo control board failure (1)Turn the power OFF then back ON.
after the ERASE command was (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
written. (EEPROM ERASE error) replace controller to be safe.
23 The SRDY signal did not turn ON Servo control board failure (1)Turn the power OFF then back ON.
after the CLEAR command was (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
written. (EEPROM CLEAR error) replace controller to be safe.
24 The SRDY signal did not turn ON Servo control board failure (1)Turn the power OFF then back ON.
after data were written. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(EEPROM writing error) replace controller to be safe.
9-34
25 The SRDY signal did not turn ON Servo control board failure (1)Turn the power OFF then back ON.
after data were read. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(EEPROM reading error) replace controller to be safe.
26 The written data were rejected at Servo control board failure (1)Turn the power OFF then back ON.
verification. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(EEPROM verify error) replace controller to be safe.
1020 MotoPlus application load 1 Num of the Application files is Setting error Set the number of application file "*.OUT" to be within the defined value. (Delete
error over the limit. unnecessary files from the MotoPlus menu of the maintenance mode.)
2 Insufficient memory space Setting error Memory to work MotoPlus application is insufficient under the combination of
current system configuration and its optional function. IIf the alarm occurs
again, save the CMOS.BIN in maintenance mode, and then contact your
YASKAWA representative about occurrence status (operating procedure).
3 MotoPlus application folder Setting error (1)Turn the power OFF then back ON.
cannot be found. (2)If the alarm occurs again, replace controller and load the MotoPlus
application which was loaded to the previous controller.
RE-CHO-A111
4 Memory size required by Setting error Check that if the object file name is too long or inappropriate letters are used.
Application is over the limit
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(2Mbyte).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 Undefined symbols are included Setting error Check that symbols such as undefined functions or constants, which are
in the application. provided from the system side, are included in the application program.
6 Load failure (other) Setting error (1)Check the definition of static variable in the MotoPlus application program is
correct or not.
(2)Check the MotoPlus application programs so that they are set within the
specified values.
(3)Check that the object files are appropriately created.
7 API library initialization failure Setting error Memory to work MotoPlus application is insufficient under the combination of
current system configuration and its optional function. If the alarm occurs again,
save the CMOS.BIN in maintenance mode, and then contact your YASKAWA
representative about occurrence status (operating procedure).
8 User root task not included Setting error Confirm that mpUsRoot() is described in the application program.
9 User root task generation failure Setting error Memory to work MotoPlus application is insufficient under the combination of
current system configuration and its optional function. IIf the alarm occurs
again, save the CMOS.BIN in maintenance mode, and then contact your
YASKAWA representative about occurrence status (operating procedure).
10 RAM-Disk generation failure Setting error Memory to work MotoPlus application is insufficient under the combination of
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current system configuration and its optional function. If the alarm occurs again,
save the CMOS.BIN in maintenance mode, and then contact your YASKAWA
representative about occurrence status (operating procedure).
11 MotoPlus application process Setting error Check that the object file is appropriately created.
generation failure
12 application file "*.VXE" in the Setting error Set the number of application file "*.VXE" to be within the defined value. (Delete
controller exceeded the specified unnecessary files from the MotoPlus menu of the maintenance mode.)
value
13 Failure to install the driver to Setting error Memory to work MotoPlus application is insufficient under the combination of
communicate between MotoPlus current system configuration and its optional function. If the alarm occurs again,
application and the system. save the CMOS.BIN in maintenance mode, and then contact your YASKAWA
representative about occurrence status (operating procedure).
1030 MEMORY ERROR 0 RCD, RCxG parameter error Data error (1)Turn the power OFF then back ON.
RE-CHO-A111
(PARAMETER FILE) (2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1 ROxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
2 SVD, SVxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
3 SVMxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
9-36
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4 S1CxG, S2C, S3C, S4C Data error (1)Turn the power OFF then back ON.
parameter error (2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
5 S1D, S2D, S3D, S4D parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
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(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
6 CIO parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
7 FD parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
8 A1P, A2P, …, A8P parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
9-37
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9 RS parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
10 S1E, S2E, …, S8E parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the appropriate parameter file in
RE-CHO-A111
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
11 SVCxB parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
12 AMCxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
13 SVPxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
9-38
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
14 MFxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
15 SVSxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
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(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
16 RExG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
maintenance mode, and then load the parameter file saved in the external
memory device.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1031 MEMORY ERROR 0 "GET FILE" instruction, "SET Data error (1)Turn the power OFF then back ON.
(MOTION1) FILE" instruction execution target (2)If the alarm occurs again, initialize the appropriate data in maintenance
file mode, and then load the data saved in the external memory device.
1 Home position calibration file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
2 Tool file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
3 User coordinates file Data error (1)Turn the power OFF then back ON.
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(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
4 Robot calibration file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
5 Tool calibration file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
7 Home position correction data file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
8 Conveyor calibration file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
RE-CHO-A111
mode, and then load the data saved in the external memory device.
9 Arm and tool interference Data error (1)Turn the power OFF then back ON.
prevention file (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
34 Conveyor condition file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
35 Press characteristics file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
36 Servo float condition file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
42 Anticipation OT# output file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
43 Anticipation OG# output file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
45 Form cut file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
47 Linear servo float condition file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
9-40
mode, and then load the data saved in the external memory device.
48 Macro definition file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
53 Job registration table Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
62 Linear scale condition file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
64 Conveyor condition auxiliary file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
67 Pelletizing condition file Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
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69 Mastering registration position Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data in maintenance
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mode, and then load the data saved in the external memory device.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1050 SET-UP PROCESS 1 Motion instruction setup Main CPU board failure (1)Turn the power OFF then back ON.
ERROR (SYSCON) incomplete (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Online error Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1051 SET-UP PROCESS 1 Unable to properly activate the Servo control board failure (1)Turn the power OFF then back ON.
ERROR (MOTION) servo control (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 The position data of when the Servo control board failure (1)Turn the power OFF then back ON.
power supply was turned OFF (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
cannot be transmitted to the servo replace controller to be safe.
control section
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
3 The servo control section cannot Servo control board failure (1)Turn the power OFF then back ON.
receive the position data of when (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
the power supply was turned OFF replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
7 Unable to send a request to Servo control board failure (1)Turn the power OFF then back ON.
prepare a feedback pulse (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
8 Unable to prepare a feedback Servo control board failure (1)Turn the power OFF then back ON.
pulse (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 Unable to send a request to Main CPU board failure (1)Turn the power OFF then back ON.
initialize the arithmetic section (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(ARITH) replace controller to be safe.
9-42
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
10 Unable to initialize ARITH Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 Unable to send a request to Main CPU board failure (1)Turn the power OFF then back ON.
prepare the current position (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
RE-CHO-A111
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
12 Unable to prepare the current Main CPU board failure (1)Turn the power OFF then back ON.
position (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1053 SYSTEM ERROR Sub Code Software operation error (1)Turn the power OFF then back ON.
(EVENT) 1 to 8: Signifies the internal occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
software error at event process. then contact your YASKAWA representative about occurrence status (operating
procedure).
1100 SYSTEM ERROR Sub Code Software operation error (1)Turn the power OFF then back ON.
C, B, F : Sub code of unknown occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
alarm then contact your YASKAWA representative about occurrence status (operating
procedure).
RAM software data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-43
1104 SYSTEM ERROR Sub Code Connection failure (1)Turn the power OFF then back ON.
(CIO) 1000_0000: I/O module setting (2)If the alarm occurs again, check the connecting or inserting state of the
error following cables or connectors.
·IO module cable of the corresponding slot.
·24V power of the corresponding IO module.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Setting error (1)Turn the power OFF then back ON.
(2)If the error occurs again, set the I/O module again in maintenance mode.
(3)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN
before replace the board to be safe. Replace the YCP01 board, and then
remove the CF from the failure YCP01 board to insert it into the new YCP01.
1105 SYSTEM ERROR 15 Communication period with the Software operation error (1)Turn the power OFF then back ON.
(SERVO) motion part is inappropriate. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
21 A task request was sent to an axis Software operation error (1)Turn the power OFF then back ON.
9-44
in the alarm status. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
30 The linear servo float does not Software operation error (1)Turn the power OFF then back ON.
support the manipulator type occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
specified in the RC parameter at then contact your YASKAWA representative about occurrence status (operating
calculation for servo-float-related procedure).
parameters.
37 The manipulator (B-axis) passed Setting error (1)Check the following settings.
the singular point while the linear Correct the job so that the manipulator (B-axis) does not pass the singular point
servo float was ON. while the linear servo float is ON.
47 The alarm number is illegal. Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
49 Parameter modified while the Setting error (1)Turn the power OFF then back ON.
servo float is ON. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
115 500μs non real process execution Software operation error (1)Turn the power OFF then back ON.
sequence error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
128 The dynamics calculation process Software operation error (1)Turn the power OFF then back ON.
did not complete within the time occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
set on the scheduling table. then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-45
135 General08ms process dose not Software operation error (1)Turn the power OFF then back ON.
complete within the time set by occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
the scheduling table. then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
136 Dynamics arithmetic process Software operation error (1)Turn the power OFF then back ON.
dose not complete within the time occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
set by the scheduling table. then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
RE-CHO-A111
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
137 500μs non real process dose not Software operation error (1)Turn the power OFF then back ON.
complete within the time set by occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
the scheduling table. then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
138 Real time process dose not Software operation error (1)Turn the power OFF then back ON.
complete within the time set by occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
the scheduling table. then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
140 External interruption occurred. Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-46
151 The averaging time is not an even Software operation error (1)Turn the power OFF then back ON.
number. (times) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
160 The interface with the Software operation error (1)Turn the power OFF then back ON.
microprogram dose not complete occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
within the time set by the then contact your YASKAWA representative about occurrence status (operating
scheduling table. procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
200 The notch filter doesn't become Software operation error (1)Turn the power OFF then back ON.
effective after shifting to PLAY occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
mode. then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
303 The difference between the base Software operation error (1)Turn the power OFF then back ON.
torque and the target torque occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
exceeded the threshold in the jig then contact your YASKAWA representative about occurrence status (operating
159645-1CD
robot bending correction. procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
500 Inconsistency of FP register. Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1000 The check item number of SVD Software operation error (1)Turn the power OFF then back ON.
parameter is unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1001 The check item number of SV Software operation error (1)Turn the power OFF then back ON.
parameter is unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1002 The check item number of SVM Software operation error (1)Turn the power OFF then back ON.
parameter is unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-47
1006 The check item number of MFA Software operation error (1)Turn the power OFF then back ON.
parameter is unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1007 The check item number of SVC Software operation error (1)Turn the power OFF then back ON.
parameter is unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4000 Execution of the motion command Software operation error (1)Turn the power OFF then back ON.
does not complete within the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
specified time. (The last three then contact your YASKAWA representative about occurrence status (operating
digits expresses the command procedure).
code.)
7200 Interpolation cycle is shorter than Software operation error (1)Turn the power OFF then back ON.
the set value. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(The last digit expresses the then contact your YASKAWA representative about occurrence status (operating
physical axis of the alarm procedure).
occurrence.)
7500 Setting error of the NSRCH Setting error More than 4 direct in numbers are specified at time under the NSRCH
instruction direct-in number. instruction. Confirm its direct-in setting value.
1200 HIGH TEMPERATURE The temperature rises in the Turn the power OFF then back ON after cooling down inside of the controller.
(IN CNTL BOX) controller
9-48
159645-1CD
PARAMETER ERROR which is used in the Ethernet ·IP address setting of network in maintenance mode
function.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 Incorrect setting of the subnet Setting error (1)Check the following settings.
mask which is used in the ·Subnet mask of network in maintenance mode
Ethernet function.
3 Incorrect setting of the default Setting error (1)Check the following settings.
gateway which is used in the ·Default gateway of network in maintenance mode
Ethernet function.
4 Incorrect setting of the host Setting error (1)Check the following settings.
address which is used in the ·Server (host) of network in maintenance mode
Ethernet function.
70 Incorrect setting of the host name Setting error (1)Check the following settings.
which is used in the Ethernet ·Host name of network in maintenance mode
function.
75 Incorrect setting of the domain Setting error (1)Check the following settings.
which is used in the Ethernet ·Domain name of network in maintenance mode
function.
1221 ETHERNET INITIAL 1 An error occurred in the device Software operation error (1)Turn the power OFF then back ON.
PROCESS ERROR initialization process of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-49
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
2 An error occurred in the IP Setting error (1)Check the following settings.
address setting process of the ·IP address setting of network in maintenance mode
Ethernet function.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
RE-CHO-A111
3 An error occurred in the subnet Setting error (1)Check the following settings.
mask setting process of the ·Subnet mask of network in maintenance mode
Ethernet function.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
4 An error occurred in the default Setting error (1)Check the following settings.
gateway setting process of the ·Default gateway of network in maintenance mode
Ethernet function.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
5 An error occurred in the host Setting error (1)Check the following settings.
name setting process of the ·Server (host) of network in maintenance mode
Ethernet function.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
9-50
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
6 An error occurred in the MAC Software operation error (1)Turn the power OFF then back ON.
address getting process of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
20 An error occurred in the Web Software operation error (1)Turn the power OFF then back ON.
server task creating process of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
RE-CHO-A111
21 An error occurred in the FTP Software operation error (1)Turn the power OFF then back ON.
server task creating process of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
159645-1CD
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
22 An error occurred in the FTP Software operation error (1)Turn the power OFF then back ON.
client task creating process of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
30 An error occurred in the Software operation error (1)Turn the power OFF then back ON.
semaphore generation process occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
for access exclusion of the then contact your YASKAWA representative about occurrence status (operating
Ethernet function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
50 An error occurred in the Web Software operation error (1)Turn the power OFF then back ON.
server task management ID occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
getting process of the Ethernet then contact your YASKAWA representative about occurrence status (operating
9-51
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
51 An error occurred in the FTP Software operation error (1)Turn the power OFF then back ON.
server task management ID occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
getting process of the Ethernet then contact your YASKAWA representative about occurrence status (operating
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
1301 COMMUNICATION 0 Communication status error Connection failure (1)Turn the power OFF then back ON.
ERROR (SERVO) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Turn the power OFF then back ON.
RE-CHO-A111
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1 Watchdog timer error Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
2 JL0101 alarm Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
9-52
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
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replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4 Data consistency error Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (1)Turn the power OFF then back ON.
(converter) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-53
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Motor load error (1)Check the followings.
Overload is applied to the manipulator. Correct the tools, the work pieces, and
the drive condition.
1306 AMPLIFIER TYPE Sub Code: Signifies the axis in Setting error (1)Check the following settings.
MISMATCH which the alarm occurred ·Check the current capacity of the amplifier before/after replacement by the
model described in board.
·When the external axis is mounted, check if there is no difference between the
amplifier selected at configuration and practically mounted one.
Reference parameter: from SVPxG232
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (amplifier) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-54
1307 ENCODER TYPE Sub Code: Signifies the axis in Setting error (1)Check the following settings.
MISMATCH which the alarm occurred ·Check the motor type before and after the replacement.
·When the external axis is mounted, check if there is no difference between the
motor selected at configuration and the motor that is actually mounted.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (encoder) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the encoder.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1308 CONVERTER TYPE Sub Code: Signifies the converter Setting error (1)Check the following settings.
MISMATCH in which the alarm occurred ·Check the current capacity of the amplifier before/after replacement by the
model described in board.
·When the external axis is mounted, check if there is no difference between the
amplifier selected at configuration and practically mounted one.
Reference parameter: from SVCxB025
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
9-55
procedure).
1311 A/D DETECTION Sub Code: Signifies the converter Module failure (converter) (1)Turn the power OFF then back ON.
ERROR (CONVERTER) physical number in which the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
alarm occurred replace controller to be safe.
1325 COMMUNICATION Sub Code: Signifies the axis in Connection failure (1)Turn the power OFF then back ON.
ERROR (ENCODER) which the alarm occurred (2)If the alarm occurs again, check the connecting or inserting state of the
following cables.
{Robot axis}
·Cables between the controller and the encoder.
{External axis}
·Cables between the controller and the encoder.
Module failure (encoder) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the encoder.
RE-CHO-A111
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1326 DEFECTIVE ENCODER Sub Code: Signifies the axis in Connection failure (1)Turn the power OFF then back ON.
ABSOLUTE DATA which the alarm occurred (2)If the alarm occurs again, check the connecting or inserting state of the
following cables.
{Robot axis}
·Cables between the controller and the encoder.
{External axis}
·Cables between the controller and the encoder.
Module failure (encoder) (1)Check the following settings.
Replace the defective motor (encoder).
·Check the position after the alarm.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
External environment (1)Check the following settings.
·Check the grounding condition of Manipulator.
·Check whether it is installed into the strong magnetic field.
·Check the position after the alarm.
9-56
1327 ENCODER OVER Sub Code: Signifies the axis in Connection failure (1)Turn the power OFF then back ON.
SPEED which the alarm occurred (2)Turn the servo OFF where the axis does not fall off while turning ON the
servo.
(3)Replace the battery of the alarm occurring axis if the alarm and encoder
back-up error occur again.
(4)If the alarm occurs again, check the connecting or inserting state of the
following cables.
{Robot axis}
·Cables between the controller and the encoder.
{External axis}
·Cables between the controller and the encoder
Encoder failure Replace the defective motor (encoder).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1328 DEFECTIVE ENCODER Sub Code: Signifies the axis in Connection failure (1)Turn the power OFF then back ON.
which the alarm occurred (2)If the alarm occurs again, check the connecting or inserting state of the
following cables.
{Robot axis}
·Cables between the controller and the encoder.
{External axis}
·Cables between the controller and the encoder
Module failure (encoder) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the encoder.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1329 DEFECTIVE SERIAL Sub Code: Signifies the axis in Connection failure (1)Turn the power OFF then back ON.
ENCODER COMMAND which the alarm occurred (2)If the alarm occurs again, check the connecting or inserting state of the
following cables.
{Robot axis}
·Cables between the controller and the encoder.
9-57
{External axis}
·Cables between the controller and the encoder.
Module failure (encoder) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the encoder.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1330 MICRO PROGRAM Sub Code: Signifies the axis in Servo control board failure (1)Turn the power OFF then back ON.
TRANSMIT ERROR which the alarm occurred (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1349 POWER LOST Instant power failure Check if the primary power supply voltage is dropping.
DETECTION
(SERVO)
RE-CHO-A111
1352 SERIAL ENCODER Sub Code: Signifies the axis in Connection failure (1)Turn the power OFF then back ON.
CORRECTION ERROR which the alarm occurred (2)If the alarm occurs again, check the connecting or inserting state of the
following cables.
{Robot axis}
·Cables between the controller and the encoder.
{External axis}
·Cables between the controller and the encoder.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connection and insertion of the following
cables and connectors.
{Robot axis}
·Cable between encoders
·EAXA-CN508
{External axis}
·Cable between encoders
·EAXB-CN0534,535,536
159645-1CD
(CONVEYOR) encoder 1. (encoder)
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 An error occurred at conveyor Cable (defect), Module failure Replace the encoder cable or encoder of the conveyor encoder 2.
encoder 2. (encoder)
3 An error occurred at conveyor Cable (defect), Module failure Replace the encoder cable or encoder of the conveyor encoder 3.
encoder 3. (encoder)
1401 CANNOT CHANGE Input error Do not switch "Encoder / Virtual encoder" with the general signal while
CONVEYOR MODE performing the conveyor synchronized function.
1402 WORK IN/NOT DATA Work status error Check the work in/not shift data and actual the work status within the shift area.
CNT. LMT. OVER
1403 WORK IN/NOT SHIFT Work status error Check the work in/not shift data and actual the work status within the shift area.
DATA POS LMT.
1404 WORK ID. DATA CNT. Work status error Check the work in/not shift data and actual the work status within the shift area.
LMT. OVER
1405 WORK ID. SHIFT DATA Work status error Check the work in/not shift data and actual the work status within the shift area.
POS LMT.
1406 START SHIFT DATA Work status error Check the work in/not shift data and actual the work status within the shift area.
9-59
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1514 OVERHEAT The temperature of amplifier Turn the power OFF then back ON after cooling the amplifier.
(AMPLIFIER) rose.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1547 CURRENT FEEDBACK •The data [XXX_] indicates the Connection failure Check if a ground fault has not occurred in the U-, V-, and W-phase of motor
ERROR alarm contents. power line, or short circuit has not occurred between these phases.
•2000:Error in current detection
value
•The data [___Y] indicates the
physical axis number.
Connection failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-60
1650 FILE TRANSFER DATA 1 An error occurred when the last Software operation error (1)Turn the power OFF then back ON.
ERROR (SV) data was not received during the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
first data communication at then contact your YASKAWA representative about occurrence status (operating
execution of motion command. procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
RE-CHO-A111
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
159645-1CD
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
2 An error occurred when the first Servo control board failure (1)Turn the power OFF then back ON.
data was not received during on (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
the way data communication at replace controller to be safe.
execution of motion command.
3 An error occurred when the first Servo control board failure (1)Turn the power OFF then back ON.
data was not received during the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
last data communication at replace controller to be safe.
execution of motion command.
1651 FILE TRANSFER DATA 1 The data size for the file transfer Servo control board failure (1)Turn the power OFF then back ON.
SIZE ERRORERROR does not agree with the received (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(SV) buffer size. replace controller to be safe.
2 Buffer size over Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
9-61
1652 DB ON ERROR (SERVO) Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1653 BASE BLOCK SIGNAL Servo control board failure (1)Turn the power OFF then back ON.
ERROR (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(SERVO) replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1654 PG POWER ON Setting error (1)Turn the power OFF then back ON.
MULTIPLE REQ (SV) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1655 CONVERTER Software operation error (1)Turn the power OFF then back ON.
COMMAND ERROR (SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1656 AXIS ENDLESS INFO Setting error Check the JOB.
NOT GENERATED(SV) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1657 AXIS ENDLESS 1 The home position detecting Setting error Disable either the axis endless function or the home position detection function
SPECIFIC. ERROR function was used for the axis for of corresponding axis.
(SV) which the axis endless function
was enabled.
The home position detecting
function cannot be used for the
9-62
3 The encoders manufactured by Setting error Disable the corresponding axis endless function.
Tamagawa Seiki Co., Ltd. was
used for the axis for which the
axis endless function was
enabled.
The encoders manufactured by
Tamagawa Seiki Co., Ltd. cannot
be used for the axis which the
RE-CHO-A111
159645-1CD
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 The general servo function was Setting error Disable the corresponding axis endless function.
used for the axis for which the
axis endless function was
enabled.
The general servo function cannot
be used for the axis which the
axis endless function was
enabled.
1658 REDUCTION STOP 1 The servo float function was used Setting error Check the JOB.
SPECIFIC. ERROR for the axis for which the
(SV) deceleration stop function was
enabled.
The servo float function cannot be
used for the axis which the
deceleration stop function was
enabled.
2 The specified axis speed control Setting error Check the JOB.
function was executed for the axis
9-63
1665 MICRO PROGRAM Sub code: specifies the axis that Servo control board failure (1)Turn the power OFF then back ON.
SYNC. ERROR (SV) alarm occurred. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1666 FILE RECEIVE Sub code: specifies the axis that Servo control board failure (1)Turn the power OFF then back ON.
RE-CHO-A111
INCOMPLETE (SERVO) alarm occurred. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1667 RESOLUTION Servo control board failure (1)Turn the power OFF then back ON.
CONVERSE CONST (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
ERROR replace controller to be safe.
(SV)
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1674 CTRL LAW SWITCHING Sub code: specifies the axis that Servo control board failure (1)Turn the power OFF then back ON.
ORDER ERROR (SV) alarm occurred. (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1684 INSTANT POWER The instant power failure occurred Voltage failure Check if the primary power supply voltage is dropping.
FAILURE and then the torque was
(TRQ)(SV) saturated.
Power failure Check if the instant power failure has occurred.
1685 INSTANT POWER The instant power failure occurred Voltage failure Check if the primary power supply voltage is dropping.
FAILURE for longer than the certain time
(TIME)(SV) period.
Power failure Check if the instant power failure has occurred.
1686 POS.DEVITATION Setting error Check the settings for manipulator motion condition (influence by external
SATURATING ERROR force, load condition).
(SV)
Connection failure Check if a ground fault has not occurred in the U-, V-, and W-phase of motor
power line, or short circuit has not occurred between these phases.
9-64
Module failure (amplifier) (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
RE-CHO-A111
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
159645-1CD
replacement to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Mounting base unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the controller. Save the CMOS.BIN before
replacement to be safe.
1831 HWBB FB ERROR Machine safety board failure (1)Turn the power OFF then back ON.
(PLD2) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1832 ESP_OUT FB ERROR Machine safety board failure (1)Turn the power OFF then back ON.
(PLD1) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1833 ESP_OUT FB ERROR Machine safety board failure (1)Turn the power OFF then back ON.
(PLD2) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1834 M-SAFETY WATCHDOG Machine safety board failure (1)Turn the power OFF then back ON.
9-65
ERROR (PLD1) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1835 M-SAFETY WATCHDOG Machine safety board failure (1)Turn the power OFF then back ON.
ERROR (PLD2) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1836 M-SAFETY WATCHDOG Machine safety board failure (1)Turn the power OFF then back ON.
ERROR (PLD3) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Turn the power OFF then back ON.
RE-CHO-A111
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1837 M-SAFETY 24V POWER Connection failure (1)Turn the power OFF then back ON.
SUPPLY ERROR (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Machine safety board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Ground fault or a short circuit (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1838 M-SAFETY DC 24V Blown fuse (1)Turn the power OFF then back ON.
FUSE BROKEN (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Ground fault or a short circuit (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Machine safety board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1839 M-SAFETY 5V POWER Blown fuse (1)Turn the power OFF then back ON.
9-66
SUPPLY ERROR (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Machine safety board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1840 M-SAFETY 3.3V LOW Machine safety board failure (1)Turn the power OFF then back ON.
VOLTAGE (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
1841 COMMUNICATION Connection failure (1)Turn the power OFF then back ON.
ERROR (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(LOOP BACK) then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
RE-CHO-A111
Servo control board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
159645-1CD
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4000 MEMORY ERROR Sub Code: Tool number Data error (1)Reset the alarm.
(TOOL FILE) (2)If the alarm occurs again, initialize the tool file in maintenance mode, and
then load the tool file saved in the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4001 MEMORY ERROR Sub Code: User coordinate Data error (1)Reset the alarm.
(USER COORD FILE) number (2)If the alarm occurs again, initialize the user coordinates file in maintenance
mode, and then load the user coordinates file saved in the external memory
device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4002 MEMORY ERROR Data error (1)Reset the alarm.
(SV MON SIGNAL FILE) (2)If the alarm occurs again, initialize the servo monitor signal file in
maintenance mode, and then load the servo monitor signal file saved in the
external memory device.
9-67
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4013 MEMORY ERROR Sub Code: Condition file number Data error (1)Reset the alarm.
(LINEAR SERVOFLOAT) (2)If the alarm occurs again, initialize the linear servo float condition file in
maintenance mode, and then load the linear servo float condition file saved in
the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4014 MEMORY ERROR Sub Code: Page number Data error (1)Reset the alarm.
(ROBOT CALIB FILE) (2)If the alarm occurs again, initialize the file for calibration between
manipulators in maintenance mode, and then load the file for calibration
between manipulators saved in the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-68
FILE) mode, and then load the conveyor condition file saved in the external memory
device.
159645-1CD
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4022 MEMORY ERROR Sub Code: Page number Data error (1)Reset the alarm.
(PAINT SPECIAL FILE) (2)If the alarm occurs again, initialize the paint special file in maintenance
mode, and then load the paint special file saved in the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4023 MEMORY ERROR Sub Code: Page number Data error (1)Reset the alarm.
(PAINT COND FILE) (2)If the alarm occurs again, initialize the paint condition file in maintenance
mode, and then load the paint condition file saved in the external memory
device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4025 MEMORY ERROR Data error (1)Reset the alarm.
(INTERRUPT JOB FILE) (2)If the alarm occurs again, initialize the interrupt job file in maintenance mode,
and then load the interrupt job file saved in the external memory device.
Main CPU board failure (1)Reset the alarm.
9-69
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4028 MEMORY ERROR Data error (1)Reset the alarm.
(SENSOR MON COND (2)If the alarm occurs again, initialize the sensor monitoring condition file in
FILE) maintenance mode, and then load the sensor monitoring condition file saved in
the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4034 MEMORY ERROR Data error (1)Reset the alarm.
(ANTICIPATION OT FILE) (2)If the alarm occurs again, initialize the anticipation output (OT) file in
maintenance mode, and then load the anticipation output (OT) file saved in the
external memory device.
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4039 MEMORY ERROR Sub Code: File number Data error (1)Reset the alarm.
(FORM CUT FILE) (2)If the alarm occurs again, initialize the form cut file in maintenance mode,
and then load the form cut file saved in the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4040 MEMORY ERROR Sub Code: File number Data error (1)Reset the alarm.
(SHOCK LEVEL FILE) (2)If the alarm occurs again, initialize the shock level file in maintenance mode,
and then load the shock level file saved in the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4042 MEMORY ERROR Sub Code: Page number Data error (1)Reset the alarm.
(VISION FILE) (2)If the alarm occurs again, initialize the vision condition file in maintenance
9-70
mode, and then load the vision condition file saved in the external memory
device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4043 MEMORY ERROR Sub Code: Page number Data error (1)Reset the alarm.
(VISION CALIBRATION) (2)If the alarm occurs again, initialize the vision calibration file in maintenance
mode, and then load the vision calibration file saved in the external memory
device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4046 MEMORY ERROR Sub Code: File number Data error (1)Reset the alarm.
(CONVEYOR CALIB (2)If the alarm occurs again, initialize the conveyor calibration file in
FILE) maintenance mode, and then load the conveyor calibration file saved in the
external memory device.
RE-CHO-A111
159645-1CD
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4047 MEMORY ERROR Data error (1)Reset the alarm.
(MACRO DEFINITION (2)If the alarm occurs again, initialize the macro definition file in maintenance
FILE) mode, and then load the macro definition file saved in the external memory
device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4050 MEMORY ERROR Data error (1)Reset the alarm.
(AXIS I/O ALLOC FILE) (2)If the alarm occurs again, initialize the axis motion I/O allocation file in
maintenance mode, and then load the axis motion I/O allocation file saved in
the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4051 MEMORY ERROR Sub Code: File number Data error (1)Reset the alarm.
(GUN COND. AUX. FILE) (2)If the alarm occurs again, initialize the gun characteristics auxiliary file in
maintenance mode, and then load the gun characteristics auxiliary file saved in
the external memory device.
9-71
SUPP.) maintenance mode, and then load the conveyor condition auxiliary file saved in
the external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4065 MEMORY ERROR Data error (1)Reset the alarm.
(I/F PANEL FILE) (2)If the alarm occurs again, initialize the I/F panel file in maintenance mode,
and then load the I/F panel file saved in the external memory device.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4072 MEMORY ERROR Data error (1)Reset the alarm.
(LASER TRACKING (2)If the alarm occurs again, initialize the laser tracking track start file in
TRACK START FILE) maintenance mode, and then load the laser tracking track start file saved in the
external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4074 MEMORY ERROR Data error (1)Reset the alarm.
(LASER TRACKING (2)If the alarm occurs again, initialize the laser tracking track set file in
TRACK SET FILE) maintenance mode, and then load the laser tracking track set file saved in the
external memory device.
Main CPU board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-72
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task uses the same group axis. ·The execution timing for start command
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 Multiple start of same job: Setting error (1)Check the following settings.
The job that was tried to be ·The same job is not used in the another task
started was executed by another
sub task.
4 Unregistered master job: Setting error (1)Check the following settings.
Although the master job was not ·The master job of the subtask is registered
registered, an attempt was made
to execute PSTART SUB (job
name omitted).
5 Synchronization instruction error: Setting error (1)Check the following settings.
When restarted by PSTART, ·The job to be started
synchronization instruction status ·The execution timing for start command
of the sub task under interruption
was different from the status to
restart.
6 Stopped by an alarm: Setting error (1)Check the following settings.
An attempt was made to start the ·Alarm occurrence status
sub task which is stopped by an
9-73
alarm.
7 Synchronization task specification Setting error (1)Check the following settings.
of SYNC instruction omit error ·Synchronization task specification of SYNC instruction
8 The task is specified by Setting error (1)Check the following settings.
synchronization task of SYNC ·Synchronization task specification of SYNC instruction
instruction.
9 I/O jog being executed Setting error (1)Check the following settings.
·I/O jog executing status
Complete the I/O jog executing status, and then restart.
10 Separate group axis being used Setting error (1)Check the following settings.
·Usage status of separation use axis
Complete the use of separation use axis, and then restart.
RE-CHO-A111
11 The servo power supply is OFF. Setting error (1)Check the following settings.
·Servo power
Turn ON servo power.
12 Twin synchronous task ID error Setting error (1)Check the following settings.
·Twin synchronous task specification of SYNC instruction
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
16 PSTART instruction is the old Setting error (1)Check the following settings.
specification. ·The specifications of PSTART instruction
Register the PSTART instruction as new specification.
17 PWAIT instruction is the old Setting error (1)Check the following settings.
specification. ·The specifications of PWAIT instruction
Register the PWAIT instruction as new specification.
4104 WRONG EXECUTION Sub Code1 to 245: Signifies the Setting error * Refer to the instruction manual for Data Transmission Function for details.
OF LOAD INST data transmission error.
4105 WRONG EXECUTION Sub Code1 to 245: Signifies the Setting error * Refer to the instruction manual for Data Transmission Function for details.
OF SAVE INST data transmission error.
4106 WRONG EXECUTION Sub Code1 to 245: Signifies the Setting error * Refer to the instruction manual for Data Transmission Function for details.
OF DELETE INST data transmission error.
4107 OUT OF RANGE Sub Code: Signifies the axis in Setting error (1)Check the following settings.
(ABSO DATA) which the alarm occurred ·Move the manipulator or station to the zero position by the axis operation and
check the home position alignment marks (the arrow).
4112 DATA SENDING ERROR 1 Retry over of NAK Communication error (1)Reset the alarm.
9-74
(2)If the alarm occurs again, check the communication setting and
communication wiring is correct.
2 Retry over for timeout in timer A Communication error (1)Reset the alarm.
(2)If the alarm occurs again, check the communication setting and
communication wiring is correct.
3 Retry over for mutual response Communication error (1)Reset the alarm.
error (2)If the alarm occurs again, check the communication setting and
communication wiring is correct.
4113 DATA RECEIVING 1 Reception timeout (timer A) Communication error (1)Reset the alarm.
ERROR (2)If the alarm occurs again, check the communication setting and
communication wiring is correct.
2 Reception timeout (timer B) Communication error (1)Reset the alarm.
(2)If the alarm occurs again, check the communication setting and
communication wiring is correct.
3 Heading length is too short. Setting error (1)Reset the alarm.
(2)If the alarm occurs again, send EOT code to release the data link and then
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 Heading length is too long. Setting error (1)Reset the alarm.
(2)If the alarm occurs again, send EOT code to release the data link and then
check that the sending side data is correctly set.
(3)Check that the communication setting is correct.
5 The header No. error Setting error (1)Reset the alarm.
(2)If the alarm occurs again, send EOT code to release the data link and then
check that the sending side data is correctly set.
(3)Check that the communication setting is correct.
6 The text length exceeded 256 Setting error (1)Reset the alarm.
characters. (2)If the alarm occurs again, send EOT code to release the data link and then
check that the sending side data is correctly set.
(3)Check that the communication setting is correct.
7 Illegal data received Setting error (1)Reset the alarm.
(2)If the alarm occurs again, send EOT code to release the data link and then
check that the sending side data is correctly set.
(3)Check that the communication setting is correct.
4114 TRANSMISSION 1 Overrun error Communication error (1)Reset the alarm.
HARDWARE ERROR (2)If the alarm occurs again, check the communication setting and
9-75
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3 Received EOT before last block Communication error (1)Reset the alarm.
reception. (2)If the alarm occurs again, check the setting of communication or
transmission side data is correctly set.
4 Received codes other than EOT Communication error (1)Reset the alarm.
after last block reception. (2)If the alarm occurs again, check the setting of communication or
transmission side data is correctly set.
4116 TRANSMISSION 1 Transmission data contents error Communication error (1)Reset the alarm.
SYSTEM ERROR (2)If the alarm occurs again, check the setting of communication or
transmission side data is correctly set.
100 Trans error or protocol error Communication error (1)Reset the alarm.
(2)If the alarm occurs again, check the setting of communication or
transmission side data is correctly set.
4117 BRAKE POWER ERROR Sub Code: XY Connection failure (1)Reset the alarm.
X : Servo control board(SV#X) (2)If the alarm occurs again, check the brake connection if there is a ground
Y : Power-ON unit(TU#Y) fault or short circuit.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4119 FAN ERROR Sub Code 1 to 4: Signifies the Cooling fan failure (1)Reset the alarm.
(IN CONTROL BOX) Converter unit No. in which the (2)If the alarm occurs again, turn the power OFF then back ON.
alarm occurred (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4121 COOLING FAN1 ERROR Sub Code: Signifies the Servo Cooling fan failure Replace the cooling fan of manipulator.
control board No. in which the Check the wiring from a manipulator to a servo control board.
alarm occurred * Move the manipulator to the safe position in the teach mode.
4122 COOLING FAN2 ERROR Sub Code: Signifies the Servo Cooling fan failure Replace the cooling fan of manipulator.
control board No. in which the Check the wiring from a manipulator to a servo control board.
alarm occurred * Move the manipulator to the safe position in the teach mode.
4124 WRONG EXECUTION 1 The specified file number is Setting error (1)Check the following settings.
OF VISION INST incorrect. ·File No.
Specify the correct file number.
RE-CHO-A111
2 The specified file set value is Setting error (1)Check the following settings.
incorrect. ·File set value
159645-1CD
Specify the set value.
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Number Code
3 Calibration could not be executed. Setting error (1)Check the following settings.
·The robot coordinate data or the pixel coordinate data used for the calibration
·The user variable number in the calibration file
Set the robot coordinate data and the pixel coordinate data used for the
calibration.
Set the user variable number in the calibration file.
4 The communication port for the Setting error (1)Check the following settings.
vision system could not be ·The Parameter for communication port
initialized.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection of the following cables.
·Cable between vision system and FS100 system
5 Time-out occurred during data Setting error (1)Check the following settings.
transmission. ·The communication setting of vision system
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection of the following cables.
·Cable between vision system and FS100 system
9-77
6 Time-out occurred during data Setting error (1)Check the following settings.
reception. ·The communication setting of vision system
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection of the following cables.
·Cable between vision system and FS100 system
7 The data received from the vision Setting error (1)Check the following settings.
system is incorrect. ·The communication setting of vision system
·The detection setting of vision system
8 The pixel coordinates value was Setting error (1)Check the following settings.
RE-CHO-A111
not able to be converted into the ·The communication setting of vision system
robot coordinates. ·Calibration file for use
9 Failed to read or write the position Setting error (1)Check the following settings.
type variable (P variable). ·Usage status of the specified position type variable
Don't use the specified positional type variable at the same time in other jobs.
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Number Code
10 Use memory is lacking and the Software operation error (1)Reset the alarm, and then try again.
area could not be obtained. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 The setting value of measurement Correct the setting value of a measurement item.
item (FT) is incorrect.
12 The data for the vision execution Software operation error (1)Reset the alarm, and then try again.
command is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
48 The number of waiting commands Software operation error (1)Reset the alarm, and then try again.
sent by Vision sensor exceeded occurred (2)Check the command sent by Vision sensor
the limit. (3)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4126 CANNOT EXECUTE 1 System error Software operation error (1)Reset the alarm, and then try again.
AUTO PMT occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
9-78
procedure).
2 PBOX cannot be edited. Setting error (1)Check the following settings.
·I/O status of the edit prohibit signal
The edit prohibit signal cannot input.
3 The source job cannot be edited. Setting error (1)Check the following settings.
·The prohibit status of source job
If the source job is protected from editing, it cannot be edited.
4 The converted job cannot be Setting error (1)Check the following settings.
edited. ·The prohibit status of converted job
If the converted job is protected from editing, it cannot be edited.
5 The memory area for job area is Software operation error (1)Reset the alarm.
insufficient. occurred (2)If the error occurs again, delete unused jobs.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
In that case, delete the unused job.
RE-CHO-A111
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
159645-1CD
procedure).
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Number Code
6 The source job is not exist. Setting error (1)Check the following settings.
·Presence of the specified source job
The job which does not exist cannot be set to the source job.
7 The memory area for position Software operation error (1)Reset the alarm.
data of the job is insufficient. occurred (2)when the error occurs again, if there is an unnecessary teaching position,
delete it.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
In that case, delete the unuse
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
8 The job under execution is Setting error (1)Check the following settings.
specified as the conversion job. ·Execution status of the source job
·Execution status of the converted job
The job under execution is specified for the source / converted job. Execute
conversion operation after ending the job execution.
4127 U-AXIS TIMING BELT Sub Code: XY Belt blown Replace the timing belt of the manipulator.
9-79
BLOWN X : Servo control board(SV#X) Check the connection between manipulator and Servo control board.
Y : Power-ON unit(TU#Y) *Move the manipulator to safety place in teach mode.
4129 TWIN DRIVE OUT OF Sub Code: Corresponding Setting error (1)Check the following settings.
RANGE master-axes and slave-axes are ·Pulse error of the master-axes and the slave-axes
(START) displayed by the bit. Switch to independent movement mode so that the pulse error of the master-
axes and the slave-axes is settled within allowable range.
4130 NETWORK 1 An error occurred when the Software operation error (1)Turn the power OFF then back ON.
APPLICATION notification of the APP task re- occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
PROCESS ERROR initialization was processed in the then contact your YASKAWA representative about occurrence status (operating
Ethernet function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
RE-CHO-A111
2 An error occurred when the re- Software operation error (1)Turn the power OFF then back ON.
initialization response was occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
received in the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
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Number Code
3 The incomplete task of Software operation error (1)Turn the power OFF then back ON.
re-initialization was occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
unsuccessfully completed in the then contact your YASKAWA representative about occurrence status (operating
Ethernet function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
4 An error occurred when the Software operation error (1)Turn the power OFF then back ON.
semaphore for re-initialization occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
was received in the Ethernet then contact your YASKAWA representative about occurrence status (operating
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
5 An error occurred when the re- Software operation error (1)Turn the power OFF then back ON.
initialization mail was sent in the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
9-80
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
159645-1CD
(2)If the alarm occurs again, replace controller.
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Number Code
9 Receiving data size error Software operation error (1)Turn the power OFF then back ON.
occurred in the re-initialization occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
response receiving process of the then contact your YASKAWA representative about occurrence status (operating
Ethernet function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
30 An error occurred in the Web Software operation error (1)Turn the power OFF then back ON.
server task mail receiving process occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
of the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
31 An error occurred in the FTP Software operation error (1)Turn the power OFF then back ON.
server task mail receiving process occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
of the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
9-81
41 Illegal e-mail data were received Software operation error (1)Turn the power OFF then back ON.
in the FTP server task of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
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Number Code
42 Illegal e-mail data were received Software operation error (1)Turn the power OFF then back ON.
in the FTP client task of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
50 An error occurred in the data size Software operation error (1)Turn the power OFF then back ON.
written to PCI of the Ethernet occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
51 An error occurred when the Software operation error (1)Turn the power OFF then back ON.
request to write PCI data was occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
received in the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
9-82
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
159645-1CD
(2)If the alarm occurs again, replace controller.
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Number Code
55 The transmission request of illegal Software operation error (1)Turn the power OFF then back ON.
data length was received in the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
100 An error occurred in storing Software operation error (1)Turn the power OFF then back ON.
process of memory which is used occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
in the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
101 An error occurred in the buffer for Software operation error (1)Turn the power OFF then back ON.
request to write PCI getting occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
process of the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
9-83
4131 UDP PROCESS ERROR 1 An error occurred in the creation Software operation error (1)Turn the power OFF then back ON.
of receiving socket during the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
UDP process of the Ethernet then contact your YASKAWA representative about occurrence status (operating
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
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Number Code
2 An error occurred in the creation Software operation error (1)Turn the power OFF then back ON.
of transmission socket during the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
UDP process of the Ethernet then contact your YASKAWA representative about occurrence status (operating
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
3 Illegal data were received in the Software operation error (1)Turn the power OFF then back ON.
UDP process of the Ethernet occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
4 Transmission error occurred in the Software operation error (1)Turn the power OFF then back ON.
UDP process of the Ethernet occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
9-84
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
159645-1CD
(2)If the alarm occurs again, replace controller.
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Number Code
102 The PCI write process was not Software operation error (1)Turn the power OFF then back ON.
successfully completed in the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
UDP process of the Ethernet then contact your YASKAWA representative about occurrence status (operating
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
103 The transmission request of illegal Software operation error (1)Turn the power OFF then back ON.
data length was received in the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
UDP process of the Ethernet then contact your YASKAWA representative about occurrence status (operating
function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
104 The transmission request of illegal Software operation error (1)Turn the power OFF then back ON.
data was received in the UDP occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
process of the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
9-85
3 An error occurred in connection Software operation error (1)Turn the power OFF then back ON.
detecting process of TCP server occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
of the Ethernet function. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 An error occurred in the Software operation error (1)Turn the power OFF then back ON.
connection detection checking occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
process of TCP server of the then contact your YASKAWA representative about occurrence status (operating
Ethernet function. procedure).
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
4134 COOLING FAN SET 0 Setting error (1)Check the following settings.
ABNORMAL ·Confirm parameter SVS and S2C for the cooling fan.
·Open the front panel to refer to the parameter list on the back.
4137 WRONG EXECUTION 1 Alarm code specification error Setting error (1)Check the following settings.
OF SETUALM INST ·Alarm code
Specify the alarm in the range 8000 to 8999.
2 Task specification error Setting error (1)Check the following settings.
·Task specification
Specify the task in the range 0 to 4 (7 at expansion).
3 Motion mode specification error Setting error (1)Check the following settings.
·Motion mode specification
9-86
2 Messages and buttons are not Setting error (1)Check the following settings.
registered. ·The information of DIALOG instruction message and button
159645-1CD
3 Buttons are not registered. Setting error (1)Check the following settings.
·The information of DIALOG instruction button
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Number Code
4144 FIELDBUS BOARD In fieldbus board slot is Setting error (1)Check the following settings.
STATUS ERROR displayed in the sub-code, any ・ Check the IO module configuration of the corresponding fieldbus
board error, communication board in maintenance mode.
error (it detects ・ Check the switch settings on the corresponding fieldbus board.
communication error), or Un- ・ Check the settings of the device to communicate with the
communicating slave (it corresponding fieldbus board.
detects the slave station can
not communicate) occurs.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection and inserting state
of the following cables and connectors.
・ Communication connector and communication cable of the
corresponding fieldbus board.
・ Communication connector and communication cable of the device
that communicates with corresponding fieldbus board.
Fieldbus board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the
9-87
4201 SYSTEM ERROR -1 An error occurred during the Software operation error (1)Reset the alarm, and then try again.
(JOB) access to a job in parameter occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
specifications. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Number Code
-3 The access to a job could not be Software operation error (1)Reset the alarm, and then try again.
performed with the specified job occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
name. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-4 A job was newly created with the Software operation error (1)Reset the alarm, and then try again.
same name of the job already occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
specified in the memory. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-5 A job was newly created with the Software operation error (1)Reset the alarm, and then try again.
same name of the job already occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
specified in the memory. then contact your YASKAWA representative about occurrence status (operating
procedure).
9-88
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-6 The allowable job registration Setting error (1)Check the following settings.
area (memory) was exceeded. ·Delete unused jobs.
-7 A job that did not exist in the Software operation error (1)Reset the alarm, and then try again.
memory was specified. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-8 An attempt was made to change Setting error (1)Check the following settings.
the contents for the job prohibited ·Release the prohibition.
from being edited.
RE-CHO-A111
-9 An error occurred during the Software operation error (1)Reset the alarm, and then try again.
access to a job in handle value. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
159645-1CD
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-10 An error occurred in job data Software operation error (1)Reset the alarm, and then try again.
control system. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-11 An error occurred in sequence Software operation error (1)Reset the alarm, and then try again.
number of the accessed job. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-89
-12 An error occurred in step number Software operation error (1)Reset the alarm, and then try again.
of the accessed job. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-13 A job specified at job search did Software operation error (1)Reset the alarm, and then try again.
not exist in the memory. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
-18 The number of instructions added Setting error (1)Check the following settings.
to a job exceeded 9999. ·Delete unnecessary instructions and add new instructions again.
-19 The number of steps added to a Setting error (1)Check the following settings.
job exceeded 999. Delete unnecessary steps and add new steps again.
-22 Job information was not able to be Software operation error (1)Reset the alarm, and then try again.
expanded. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-23 Job information was not able to be Software operation error (1)Reset the alarm, and then try again.
acquired. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
9-90
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
159645-1CD
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-90 The configuration data is Software operation error (1)Reset the alarm, and then try again.
damaged. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-91 The FAT area is damaged. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
9-91
-92 A job data in the memory was Software operation error (1)Reset the alarm, and then try again.
destroyed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4202 SYSTEM ERROR (JOB) 1 An error occurred in parameter Software operation error (1)Reset the alarm.
specifications for the access to a occurred (2)If the error occurs again, delete the job where the alarm occurred.
job. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
2 Access time exceeded the limit Software operation error (1)Reset the alarm.
during the access to a job. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
193 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 Unapproved characters are used Software operation error (1)Reset the alarm.
for a job name. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 A job was newly created with the Software operation error (1)Reset the alarm.
same name of the job already occurred (2)If the error occurs again, delete the job where the alarm occurred.
specified in the memory. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 A job was newly created with the Software operation error (1)Reset the alarm.
same name of the job already occurred (2)If the error occurs again, delete the job where the alarm occurred.
specified in the memory. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
9-92
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 The allowable job registration Software operation error (1)Reset the alarm.
area (memory) was exceeded. occurred (2)If the error occurs again, delete unused jobs.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
In that case, delete the unused job.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
7 A job that did not exist in the Software operation error (1)Reset the alarm.
memory was specified. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
8 An attempt was made to change Setting error (1)Check the following settings.
159645-1CD
the contents for the job prohibited ·Setting of EDIT LOCK in JOB header screen
from being edited. If the job is protected from editing, release the prohibition.
194 of 348
FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Software operation error (1)Reset the alarm.
occurred (2)If you edit this job, release the prohibition.
(3)If the error occurs again, delete the job where the alarm occurred.
(4)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(5)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 An attempt was made to change Setting error (1)Check the following settings.
the contents for the job prohibited ·Setting of EDIT LOCK in JOB header screen
from being edited. If the job is protected from editing, release the prohibition.
procedure).
10 An error occurred in job data Software operation error (1)Reset the alarm.
control system. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 An error occurred in sequence Software operation error (1)Reset the alarm.
number of the accessed job. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
195 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
12 An error occurred in step number Software operation error (1)Reset the alarm.
of the accessed job. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
13 A job specified at job search did Software operation error (1)Reset the alarm.
not exist in the memory. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
14 There was an instruction that did Software operation error (1)Reset the alarm.
not exist in a job because of occurred (2)If the error occurs again, delete the job where the alarm occurred.
inconsistency of the system (3)If the error occurs again after the previous measures were executed,
software. initialize the job file in the maintenance mode, and then load the saved job file.
9-94
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
16 Unused handles were lacking Setting error (1)Check the following settings.
when an attempt was made to ·The number of call job stacks
open a job. Set the job configuration that decreases the number of call job stacks.
159645-1CD
196 of 348
FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Software operation error (1)Reset the alarm.
occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
19 The number of steps added to a Setting error (1)Check the following settings.
job exceeded 9999. ·The number of steps in job
Delete unnecessary steps in job and add new steps.
same name of the undefined job occurred (2)If the error occurs again, delete the job where the alarm occurred.
already specified in the memory. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
22 Failed to expand job information Software operation error (1)Reset the alarm.
during the access to a job. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
23 The accessed job was not Software operation error (1)Reset the alarm.
opened. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
197 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
24 An error occurred in the cluster Software operation error (1)Reset the alarm.
control process of the accessed occurred (2)If the error occurs again, delete the job where the alarm occurred.
job. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
25 An error occurred when reading Software operation error (1)Reset the alarm.
the cluster information of the occurred (2)If the error occurs again, delete the job where the alarm occurred.
accessed job. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
26 Failed to acquire the necessary Software operation error (1)Reset the alarm.
memory area during the access to occurred (2)If the error occurs again, delete the job where the alarm occurred.
a job. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
9-96
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
90 The configuration information for Software operation error (1)Reset the alarm.
job data control is damaged. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
91 The FAT information for job data Software operation error (1)Reset the alarm.
is damaged. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
159645-1CD
198 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
92 A job data was destroyed. Software operation error (1)Reset the alarm.
occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
99 A job data in the memory was Software operation error (1)Reset the alarm.
destroyed. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4203 SYSTEM ERROR -1 The memory area for position Software operation error (1)Reset the alarm, and then try again.
(POSITION DATA) data is lacking at the initialization occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
of the position data control then contact your YASKAWA representative about occurrence status (operating
process. procedure).
9-97
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-3 The number of axes for position Software operation error (1)Reset the alarm, and then try again.
data is zero. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-6 Unused position data file is Software operation error (1)Reset the alarm, and then try again.
destroyed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
199 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
-7 Unused position data file does not Software operation error (1)Reset the alarm, and then try again.
exist. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-8 Position data file is destroyed. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-9 Position data control information Software operation error (1)Reset the alarm, and then try again.
is destroyed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9-98
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-10 An error occurred in specified Software operation error (1)Reset the alarm, and then try again.
position data number. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-11 Position data is not registered. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
RE-CHO-A111
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
159645-1CD
200 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
-12 An attempt was made to access Software operation error (1)Reset the alarm, and then try again.
the undefined position data. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-13 An attempt was made to access Software operation error (1)Reset the alarm, and then try again.
the position data for the undefined occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
control group. then contact your YASKAWA representative about occurrence status (operating
procedure).
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
-20 Inconsistency of data. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9-99
Main CPU board failure (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4204 SYSTEM ERROR 1 The number of axes for all the Software operation error (1)Reset the alarm.
(POSITION DATA) control groups is zero at the occurred (2)If the error occurs again, delete the job where the alarm occurred.
initialization of the position data (3)If the error occurs again after the previous measures were executed,
control process initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
3 The number of axes for position Software operation error (1)Reset the alarm.
data is zero. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
RE-CHO-A111
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
201 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
6 Unused position data file is Software operation error (1)Reset the alarm.
destroyed. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
7 Unused position data file does not Setting error (1)Check the following settings.
exist. ·The number of steps in job (position data)
Delete unnecessary position data in job and add new position data.
8 Position data file is destroyed. Software operation error (1)Reset the alarm.
occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 Position data control information Software operation error (1)Reset the alarm.
is destroyed. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
10 An error occurred in specified Software operation error (1)Reset the alarm.
position data number. occurred (2)If the error occurs again, delete the job where the alarm occurred.
(3)If the error occurs again after the previous measures were executed,
RE-CHO-A111
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
159645-1CD
procedure).
202 of 348
FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
11 Position data is not registered. Setting error (1)Check the following settings.
·Teaching of alarm occurred point
Teaching the point where alarm occurred.
13 An attempt was made to access Software operation error (1)Reset the alarm.
the position data for the undefined occurred (2)If the error occurs again, delete the job where the alarm occurred.
control group. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
17 An error occurred in exceptional Software operation error (1)Reset the alarm.
control during the position data occurred (2)If the error occurs again, delete the job where the alarm occurred.
control process. (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job file.
(4)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
203 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4206 SYSTEM ERROR Sub Code 1 to 4: Signifies the Software operation error (1)Turn the power OFF then back ON.
(TRANSMISSION) internal software error during data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
transmission. then contact your YASKAWA representative about occurrence status (operating
procedure).
4207 SYSTEM ERROR 1 An interrupt undefined in the main Software operation error (1)Reset the alarm, and then try again.
(MOTION) command from the system control occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
section occurred. then contact your YASKAWA representative about occurrence status (operating
procedure).
2 An interrupt undefined in the sub Software operation error (1)Reset the alarm, and then try again.
command from the system control occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
section occurred. then contact your YASKAWA representative about occurrence status (operating
procedure).
3 The interrupt command that was Software operation error (1)Reset the alarm, and then try again.
sent previously from the system occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
control section is being then contact your YASKAWA representative about occurrence status (operating
processed. procedure).
4 An error was detected in the Software operation error (1)Reset the alarm, and then try again.
9-102
interrupt command data from the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
system control section. then contact your YASKAWA representative about occurrence status (operating
procedure).
5 An undefined command was Software operation error (1)Reset the alarm, and then try again.
detected in the sub segment task occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
of MOTION section. then contact your YASKAWA representative about occurrence status (operating
procedure).
6 An undefined command was Software operation error (1)Reset the alarm, and then try again.
detected in the servo-related occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
processing of MOTION section. then contact your YASKAWA representative about occurrence status (operating
procedure).
7 An undefined command was Software operation error (1)Reset the alarm, and then try again.
detected in the offline processing occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
task of MOTION section. then contact your YASKAWA representative about occurrence status (operating
procedure).
8 An undefined command was Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
detected in the utility task of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
MOTION section. then contact your YASKAWA representative about occurrence status (operating
procedure).
159645-1CD
204 of 348
FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
10 Task Token is not generated. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 Mail-box Token is not generated. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
12 Semaphore Token is not Software operation error (1)Reset the alarm, and then try again.
generated. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
14 RMS receiving data error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
15 RMS sending data error Software operation error (1)Reset the alarm, and then try again.
9-103
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
16 RMS receiving unit error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
18 Task generation error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
19 Mail-box generation error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
20 Semaphore generation error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
205 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
22 TCB area overflow Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
23 Stack area overflow Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
24 Mail-box area overflow Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
25 Semaphore area overflow Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
30 Interrupt main command error Software operation error (1)Reset the alarm, and then try again.
9-104
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
33 Incorrect control group Software operation error (1)Reset the alarm, and then try again.
designation occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
34 Offline bank semaphore reception Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
35 m_gen_area semaphore Software operation error (1)Reset the alarm, and then try again.
reception error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
36 Offline HA processing timeout Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
159645-1CD
206 of 348
FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
37 DM_BANK flag error (DM_BANK Software operation error (1)Reset the alarm, and then try again.
conversion processing) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
38 S -> M offline processing Software operation error (1)Reset the alarm, and then try again.
command type error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
39 Function specification error in the Software operation error (1)Reset the alarm, and then try again.
data transmission to the sensor occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
board then contact your YASKAWA representative about occurrence status (operating
procedure).
40 Error in designation of application Software operation error (1)Reset the alarm, and then try again.
in the request of general-purpose occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
data preset for each application. then contact your YASKAWA representative about occurrence status (operating
procedure).
45 Mail-box of sequence task is not Software operation error (1)Reset the alarm, and then try again.
9-105
ready. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
46 Control-group usage undefined Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
47 Segment task polling command Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
48 Physical axis number error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
49 The control group impossible to Software operation error (1)Reset the alarm, and then try again.
release the brake occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
50 Sub-segment request FULL Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
51 Sub-segment process timeout Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
52 Data latch request FULL Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
53 Data latch process timeout Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
54 AXIS command request FULL Software operation error (1)Reset the alarm, and then try again.
9-106
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
55 AXIS command process timeout Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
56 Positioning monitor request FULL Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
57 Positioning monitor process Software operation error (1)Reset the alarm, and then try again.
timeout occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Failed AXIS servo OFF command Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
request during category1 occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
emergency stop then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
59 AXIS servo OFF command Software operation error (1)Reset the alarm, and then try again.
execution system not set during occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
category1 emergency stop then contact your YASKAWA representative about occurrence status (operating
procedure).
61 Conversion primary expression Software operation error (1)Reset the alarm, and then try again.
for Power Source command <-> occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
EW command not prepared then contact your YASKAWA representative about occurrence status (operating
procedure).
62 Duplicated request error during Software operation error (1)Reset the alarm, and then try again.
master control-group tracking occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
63 GVM shared resource semaphore Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
64 Job queue DEQUE error Software operation error (1)Reset the alarm, and then try again.
9-107
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
66 Execution system decision table Software operation error (1)Reset the alarm, and then try again.
not set occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
67 Unknown mode data (Without Software operation error (1)Reset the alarm, and then try again.
TEACH/PLAY mode data) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
68 Shift-value output timeout of the Software operation error (1)Reset the alarm, and then try again.
general-purpose sensor occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
69 Interrupt main status set Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
209 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
71 System number error at the Software operation error (1)Reset the alarm, and then try again.
master side in twin synchronous occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
system then contact your YASKAWA representative about occurrence status (operating
procedure).
72 No data link added to the Software operation error (1)Reset the alarm, and then try again.
command occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
73 Setting status error of the user Software operation error (1)Reset the alarm, and then try again.
coordinates file occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
75 Previous path data reference Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
79 Inner track zone status error Software operation error (1)Reset the alarm, and then try again.
9-108
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
80 Instruction queue and instruction Software operation error (1)Reset the alarm, and then try again.
system data area overflow occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
81 Offline answer bank flag error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
82 Path and trace queue ENQUE Software operation error (1)Reset the alarm, and then try again.
BANK error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
83 Pending and block end request Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
FULL occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
84 Base axis file type error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
85 Output buffer SYSCON for Software operation error (1)Reset the alarm, and then try again.
automatic test data in use occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
86 Conversion completion status for Software operation error (1)Reset the alarm, and then try again.
AXIS section feedback latch data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
not established then contact your YASKAWA representative about occurrence status (operating
procedure).
88 File C1 through C3 for calibration Software operation error (1)Reset the alarm, and then try again.
between manipulators not set occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
89 File C1 through C3 for conveyor Software operation error (1)Reset the alarm, and then try again.
9-109
calibration not set occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
90 HA function error Setting error (1)Check the following settings.
(conv_pos_data()) ·Correct the job so that the target position data is within the motion range.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
91 HA function error Setting error (1)Check the following settings.
(conv_shift_data()) ·Correct the job so that the target position data is within the motion range.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
94 HA function error Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
(conv_pulse_to_angle()) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
100 Control-group axis configuration Software operation error (1)Reset the alarm, and then try again.
information parameter error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
211 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
101 Error in the parameter for the Software operation error (1)Reset the alarm, and then try again.
table for physical axes occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
102 Error in the parameter for the Software operation error (1)Reset the alarm, and then try again.
table for physical TU occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
103 Excessive number of control Software operation error (1)Reset the alarm, and then try again.
group axes in use occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
104 JOG and PLAY maximum speed Software operation error (1)Reset the alarm, and then try again.
setting parameter error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
121 Job argument stack overflow Software operation error (1)Reset the alarm, and then try again.
9-110
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
122 Job argument stack underflow Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
123 Designation error of the fetched Software operation error (1)Reset the alarm, and then try again.
feedback pulse area at occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
preparation of current value then contact your YASKAWA representative about occurrence status (operating
procedure).
128 Timeout for waiting permission to Software operation error (1)Reset the alarm, and then try again.
modify the number of averaging occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
times then contact your YASKAWA representative about occurrence status (operating
procedure).
129 Object undefined for CLEAR Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
instruction occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
130 No space in RT_BANK setting Software operation error (1)Reset the alarm, and then try again.
area for correction-amount data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
131 Queue operation error for variable Software operation error (1)Reset the alarm, and then try again.
write-in history at prereading (at occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
ENQUE) then contact your YASKAWA representative about occurrence status (operating
procedure).
132 Queue operation error for variable Software operation error (1)Reset the alarm, and then try again.
write-in history at prereading (at occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
DEQUE) then contact your YASKAWA representative about occurrence status (operating
procedure).
133 Queue operation error for variable Software operation error (1)Reset the alarm, and then try again.
write-in history at prereading occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(undefined operation) then contact your YASKAWA representative about occurrence status (operating
procedure).
134 Queue operation error for variable Software operation error (1)Reset the alarm, and then try again.
9-111
write-in history at prereading (data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
length too long) then contact your YASKAWA representative about occurrence status (operating
procedure).
135 Queue operation error for score- Software operation error (1)Reset the alarm, and then try again.
board setting history (at ENQUE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
136 Queue operation error for score- Software operation error (1)Reset the alarm, and then try again.
board setting history (at DEQUE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
137 Queue operation error for score- Software operation error (1)Reset the alarm, and then try again.
board setting history (undefined occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
operation) then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
138 Queue operation error for score- Software operation error (1)Reset the alarm, and then try again.
board setting history (data length occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
too long) then contact your YASKAWA representative about occurrence status (operating
procedure).
213 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
139 Queue operation error for Software operation error (1)Reset the alarm, and then try again.
instruction execution (at ENQUE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
140 Queue operation error for Software operation error (1)Reset the alarm, and then try again.
instruction execution (at DEQUE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
141 Queue operation error for Software operation error (1)Reset the alarm, and then try again.
instruction execution (undefined occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
operation) then contact your YASKAWA representative about occurrence status (operating
procedure).
142 Queue operation error for Software operation error (1)Reset the alarm, and then try again.
instruction execution (data length occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
too long) then contact your YASKAWA representative about occurrence status (operating
procedure).
143 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
9-112
ID conveyor (at ENQUE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
144 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
ID conveyor (at DEQUE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
145 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
ID conveyor (undefined operation) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
146 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
ID conveyor (data length too long) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
147 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
IN/OUT checking conveyor (at occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
ENQUE) then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
148 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
IN/OUT checking conveyor (at occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
DEQUE) then contact your YASKAWA representative about occurrence status (operating
procedure).
149 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
IN/OUT checking conveyor occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(undefined operation) then contact your YASKAWA representative about occurrence status (operating
procedure).
150 Queue operation error for WORK Software operation error (1)Reset the alarm, and then try again.
IN/OUT checking conveyor (data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
length too long) then contact your YASKAWA representative about occurrence status (operating
procedure).
151 Queue operation error for waiting Software operation error (1)Reset the alarm, and then try again.
for semaphore for LOCK occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
instruction (at ENQUE) then contact your YASKAWA representative about occurrence status (operating
procedure).
152 Queue operation error for waiting Software operation error (1)Reset the alarm, and then try again.
9-113
for semaphore for LOCK occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
instruction (at DEQUE) then contact your YASKAWA representative about occurrence status (operating
procedure).
153 Queue operation error for waiting Software operation error (1)Reset the alarm, and then try again.
for semaphore for LOCK occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
instruction (undefined operation) then contact your YASKAWA representative about occurrence status (operating
procedure).
154 Queue operation error for waiting Software operation error (1)Reset the alarm, and then try again.
for semaphore for LOCK occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
instruction (data length too long) then contact your YASKAWA representative about occurrence status (operating
procedure).
221 Transfer data overflow in offline Software operation error (1)Reset the alarm, and then try again.
data bank occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
222 Impossible to execute system Software operation error (1)Reset the alarm, and then try again.
exclusive for system job occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
215 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
223 Event queue number range Software operation error (1)Reset the alarm, and then try again.
exceeded occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
225 The number of WORK ID data Software operation error (1)Reset the alarm, and then try again.
and the MAX. WORK FIND occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
COUNT unmatched (MOTION ≠ then contact your YASKAWA representative about occurrence status (operating
CV) procedure).
226 The number of WORK IN/OUT Software operation error (1)Reset the alarm, and then try again.
data and the MAX. WORK FIND occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
COUNT unmatched (MOTION ≠ then contact your YASKAWA representative about occurrence status (operating
CV) procedure).
227 Excessive number of scheduling Software operation error (1)Reset the alarm, and then try again.
for execution of instructions occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
228 Instruction execution scheduling Software operation error (1)Reset the alarm, and then try again.
9-114
impossible occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
229 Illegal 1st-line move instruction at Software operation error (1)Reset the alarm, and then try again.
execution of +SMOV instruction occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
230 Impossible to execute the slave Software operation error (1)Reset the alarm, and then try again.
circular interpolation and the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
master circular interpolation at the then contact your YASKAWA representative about occurrence status (operating
same time procedure).
232 Illegal index value for a +MOVx Software operation error (1)Reset the alarm, and then try again.
instruction occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
233 No xth-line move instruction exists Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
where the master control group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
belongs. then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
234 Marking error for WORK ID Software operation error (1)Reset the alarm, and then try again.
conveyor queue (empty queue) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
235 Marking error for WORK IN/OUT Software operation error (1)Reset the alarm, and then try again.
conveyor queue (empty queue) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
236 Data error 1 at restarting after an Software operation error (1)Reset the alarm, and then try again.
emergency stop (actual status occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
and the data status unmatched) then contact your YASKAWA representative about occurrence status (operating
procedure).
237 Data error 2 at restarting after an Software operation error (1)Reset the alarm, and then try again.
emergency stop (actual status occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
and the data status unmatched) then contact your YASKAWA representative about occurrence status (operating
procedure).
238 Data error 3 at restarting after an Software operation error (1)Reset the alarm, and then try again.
9-115
emergency stop (actual status occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
and the data status unmatched) then contact your YASKAWA representative about occurrence status (operating
procedure).
239 Timeout for receiving segment Software operation error (1)Reset the alarm, and then try again.
data output request occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
240 The number which designates the Software operation error (1)Reset the alarm, and then try again.
setting area of correction amount occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
in RT_BANK exceeded the limit then contact your YASKAWA representative about occurrence status (operating
value. procedure).
241 Task error of the function calling Software operation error (1)Reset the alarm, and then try again.
source (cv_sync_intr ( )) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
244 GETTOOLW manipulator Software operation error (1)Reset the alarm, and then try again.
designation error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
217 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
245 Overflow of entry number for Software operation error (1)Reset the alarm, and then try again.
instruction execution occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
246 Data latch processing (function Software operation error (1)Reset the alarm, and then try again.
number overflow) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
247 Data latch processing (real-time Software operation error (1)Reset the alarm, and then try again.
status number overflow) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
248 Failed to set a timer unit. (No Software operation error (1)Reset the alarm, and then try again.
allocation space for timer unit occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
setting) then contact your YASKAWA representative about occurrence status (operating
procedure).
250 GETS instruction internal error Software operation error (1)Reset the alarm, and then try again.
9-116
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
251 SETFILE undefined file Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
252 GETFILE undefined file Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
253 The parameter was destroyed Software operation error (1)Reset the alarm, and then try again.
when a GETPRM instruction was occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
executed. then contact your YASKAWA representative about occurrence status (operating
procedure).
254 Null pointer assignment detected Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
255 Function or other processing Software operation error (1)Reset the alarm, and then try again.
parameter error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
260 Arithmetic answer is not set at Software operation error (1)Reset the alarm, and then try again.
prereading (ADV_HA_ANS.flag occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
== OFF) then contact your YASKAWA representative about occurrence status (operating
procedure).
261 Heap area obtainment failure Software operation error (1)Reset the alarm, and then try again.
(A_BANK) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
262 Heap area obtainment failure Software operation error (1)Reset the alarm, and then try again.
(C_BANK) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
263 Heap area obtainment failure Software operation error (1)Reset the alarm, and then try again.
9-117
(Instruction queue) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
264 Heap area obtainment failure Software operation error (1)Reset the alarm, and then try again.
(Path/trace queue) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
278 MEASON TRQ instruction control Software operation error (1)Reset the alarm, and then try again.
axis specification error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
279 Specified MSS system instance is Software operation error (1)Reset the alarm, and then try again.
not generated. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
280 API ERROR Software operation error (1)Reset the alarm, and then try again.
(HDAS_get_alias_name()) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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500 SL undefined interrupt command Software operation error (1)Reset the alarm, and then try again.
(main command) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
501 SL undefined interrupt command Software operation error (1)Reset the alarm, and then try again.
(sub command) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
502 Previous SL interrupt command Software operation error (1)Reset the alarm, and then try again.
processing occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
503 SL interrupt command data error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
999 Arithmetic section error (segment Software operation error (1)Reset the alarm, and then try again.
9-118
data all zero timeout) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1000 System clock (RTC) setting error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1001 System task priority arrangement Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1002 VxWorks primitive error Software operation error (1)Reset the alarm, and then try again.
(msgQCreate) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1003 VxWorks primitive error Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
(msgQSend) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
1005 VxWorks primitive error Software operation error (1)Reset the alarm, and then try again.
(semBCreate) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1007 VxWorks primitive error Software operation error (1)Reset the alarm, and then try again.
(semTake) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1100 Failed system job environment Software operation error (1)Reset the alarm, and then try again.
configuration occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1101 MotoPlus environment setup error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4208 SYSTEM ERROR 1 Prereading task is not completed. Software operation error (1)Reset the alarm, and then try again.
9-119
(ARITH) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 No previous bank exists. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
7 The answer bank flag is ON. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
8 An error occurred in preparation Software operation error (1)Reset the alarm, and then try again.
of current position. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
11 The previous bank's prereading Software operation error (1)Reset the alarm, and then try again.
conversion could not correctly be occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
completed. then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
12 A manipulator designation error Software operation error (1)Reset the alarm, and then try again.
occurred at JOG operation using occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
the external reference point. then contact your YASKAWA representative about occurrence status (operating
procedure).
13 Designation error of cubic Software operation error (1)Reset the alarm, and then try again.
interference coordinates occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
14 Path control position data error of Software operation error (1)Reset the alarm, and then try again.
prereading bank occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
16 Station/base axis motion Software operation error (1)Reset the alarm, and then try again.
command error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
18 User coordinates number error Software operation error (1)Reset the alarm, and then try again.
9-120
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
20 Prereading task not completed at Software operation error (1)Reset the alarm, and then try again.
master in twin synchronous occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
system then contact your YASKAWA representative about occurrence status (operating
procedure).
23 Dynamic model arithmetic error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
24 Speed limit control error Setting error (1)Check the following settings.
(excessive moment of gravity) ·The allowable braking torque was exceeded only by the gravity moment. Set
the gravity value of the tool within payload of the manipulator.
·Teach the manipulator orientation that does not become the overload for each-
axes.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
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25 Square root of a negative number Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
26 The system number is not set at Software operation error (1)Reset the alarm, and then try again.
master in twin synchronous occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
system. then contact your YASKAWA representative about occurrence status (operating
procedure).
29 FORMCUT internal control error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
35 No master-group is designated at Software operation error (1)Reset the alarm, and then try again.
preparation of master-tool user occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
coordinates. then contact your YASKAWA representative about occurrence status (operating
procedure).
41 Pulse linked JOG function error Software operation error (1)Reset the alarm, and then try again.
9-121
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
42 Special JOG operation error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
57 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating the acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration time (Function then contact your YASKAWA representative about occurrence status (operating
acceleration and deceleration procedure).
control)
59 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating PL control (Function occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
acceleration and deceleration then contact your YASKAWA representative about occurrence status (operating
control) procedure).
60 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating Function acceleration occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
and deceleration dry run. then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
61 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating current path of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
continuous motion stop operation then contact your YASKAWA representative about occurrence status (operating
procedure).
62 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating next path of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
continuous motion stop operation then contact your YASKAWA representative about occurrence status (operating
procedure).
63 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration time occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
when continuous motion in the then contact your YASKAWA representative about occurrence status (operating
prereading processing procedure).
64 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating deceleration time occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
when continuous motion in the then contact your YASKAWA representative about occurrence status (operating
prereading processing procedure).
65 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
9-122
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration time when teaching. then contact your YASKAWA representative about occurrence status (operating
procedure).
66 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration time for plucking in then contact your YASKAWA representative about occurrence status (operating
prereading processing 1 procedure).
67 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration time for plucking in then contact your YASKAWA representative about occurrence status (operating
prereading processing 2 procedure).
68 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration time for plucking in then contact your YASKAWA representative about occurrence status (operating
prereading processing 3 procedure).
69 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration time for plucking in then contact your YASKAWA representative about occurrence status (operating
prereading processing 4 procedure).
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Number Code
70 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control then contact your YASKAWA representative about occurrence status (operating
plucking in prereading processing procedure).
1
71 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control then contact your YASKAWA representative about occurrence status (operating
plucking in prereading processing procedure).
2
72 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for plucking then contact your YASKAWA representative about occurrence status (operating
procedure).
73 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control in then contact your YASKAWA representative about occurrence status (operating
prereading processing 1 procedure).
9-123
74 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control in then contact your YASKAWA representative about occurrence status (operating
prereading processing 2 procedure).
75 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control in then contact your YASKAWA representative about occurrence status (operating
prereading processing 3 procedure).
76 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control in then contact your YASKAWA representative about occurrence status (operating
prereading processing 4 procedure).
RE-CHO-A111
77 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control in then contact your YASKAWA representative about occurrence status (operating
prereading processing 5 procedure).
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Number Code
85 Arithemetic error occurred when Software operation error (1)Reset the alarm, and then try again.
acceleration and deceleration for occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
canceling PL control of station then contact your YASKAWA representative about occurrence status (operating
were recalculated. procedure).
86 PL during current → Arithmetic Software operation error (1)Reset the alarm, and then try again.
error occurred when calculating occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
acceleration time for CONT then contact your YASKAWA representative about occurrence status (operating
procedure).
87 Arithmetic error occurred when Software operation error (1)Reset the alarm, and then try again.
calculating acceleration and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration for PL control in then contact your YASKAWA representative about occurrence status (operating
prereading processing procedure).
88 Arithemetic error occurred when Software operation error (1)Reset the alarm, and then try again.
acceleration and deceleration for occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
moving to the different conveyer then contact your YASKAWA representative about occurrence status (operating
coordinate were calculated. procedure).
89 Operation command group which Software operation error (1)Reset the alarm, and then try again.
9-124
pre-reading is not completed occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
detection error then contact your YASKAWA representative about occurrence status (operating
procedure).
65535 For HA debug use Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4209 OFFLINE SYSTEM 100 Data setting error in offline data Software operation error (1)Reset the alarm, and then try again.
ERROR (ARITH) bank occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
101 Data setting error in offline answer Software operation error (1)Reset the alarm, and then try again.
bank occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
102 OFF_USER_POS occupation Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
control error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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103 OFF_USER_POS valid control Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
104 Mail-receiving error of offline task Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
105 Offline occupation control error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
107 OFF_USER_ROT_POS Software operation error (1)Reset the alarm, and then try again.
occupation control error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
108 OFF_USER_ROT_POS valid Software operation error (1)Reset the alarm, and then try again.
9-125
control error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
109 OFF_CV_CALIB_POS Software operation error (1)Reset the alarm, and then try again.
occupation control error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
110 OFF_CV_CALIB_POS valid Software operation error (1)Reset the alarm, and then try again.
control error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
111 Incorrect teaching for offline Software operation error (1)Reset the alarm, and then try again.
conveyor tracking turntable occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
function then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
112 No manipulator is designated for Software operation error (1)Reset the alarm, and then try again.
offline conveyor tracking turntable occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
function. then contact your YASKAWA representative about occurrence status (operating
procedure).
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4210 SYSTEM ERROR -1 Local variable is not used. Software operation error (1)Reset the alarm, and then try again.
(LOCAL VARIABLE) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-2 Memory area for local variable Software operation error (1)Reset the alarm, and then try again.
could not be obtained. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-3 No unused handle value exists Software operation error (1)Reset the alarm, and then try again.
when local variable area is occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
created. then contact your YASKAWA representative about occurrence status (operating
procedure).
-4 An error occurred in exclusive Software operation error (1)Reset the alarm, and then try again.
control. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-5 Handle value is invalid for Software operation error (1)Reset the alarm, and then try again.
9-126
specified local variable. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-6 Handle value is incorrect for Software operation error (1)Reset the alarm, and then try again.
specified local variable. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-7 An error occurred when memory Software operation error (1)Reset the alarm, and then try again.
area for local variable was occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
released. then contact your YASKAWA representative about occurrence status (operating
procedure).
-8 An error occurred when memory Software operation error (1)Reset the alarm, and then try again.
area for local variable was occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
registered. then contact your YASKAWA representative about occurrence status (operating
procedure).
-9 Local variable control process is Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
not initialized. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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-10 Local variable area shared heap Software operation error (1)Reset the alarm, and then try again.
area. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-11 An error occurred in exclusive Software operation error (1)Reset the alarm, and then try again.
control. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
-12 An error occurred in exclusive Software operation error (1)Reset the alarm, and then try again.
control when control of the local occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
variable was processed. then contact your YASKAWA representative about occurrence status (operating
procedure).
4220 SERVO POWER OFF Sub Code: Control group Setting error (1)Check the following settings.
FOR JOB ·Turn OFF the servo power supply, and then turn ON the servo power supply for
the group axis to be operated.
4221 SERVO POWER OFF Sub Code: Control group Setting error ·Turn OFF the servo power supply, and then turn ON the servo power supply for
FOR JOB the group axis to be operated.
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4226 COMMUNICATION 1 The communication channel Setting error (1)Check the following settings.
SERVICE ERROR could not be opened/closed at ·Setting of the RS (transmission) parameter
OPEN/CLOSE instruction
execution.
100 The communication port is Setting error (1)Check the following settings.
already opened. The serial port setting
101 The communication port is not Setting error (1)Check the following settings.
opened. The serial port setting
102 No space was found in data sent Setting error (1)Check the following settings.
buffer. The serial port setting
103 The setting value for the event Setting error (1)Check the following settings.
queue designation parameter is ·RS157···Set to 1 to 4
incorrect.
RE-CHO-A111
105 The type of output data is Setting error (1)Check the following settings.
incorrect. The serial port setting
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4228 WRONG DATA Software operation error (1)Reset the alarm, and then execute following operation.
occurred ·Select a sub menu [WRONG DATA LOG] under main menu [SETUP].
·Execute "RESTORE" by selecting "UTILITY" from the pull-down menu.
*Occurrence date changes to restoration date after it is restored.
·Turn the power ON again and confirm the causes of the wrong data 1 and 2.
Cause 1: Confirm the position of the file.
Cause 2: Register the position of the file again.
*As for the Cause 3, there is no confirming item after the power is turned ON.
(2) If the restoration cannot be completed, execute the followings.
·Execute "RECONFIRM" by selecting "UTILITY" from the pull-down menu.
(3)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Data error (1) If different axes configuration data is loaded, the system data becomes
incorrect status, which causes this alarm. In this case, execute the following
operations.
·Select a sub menu [WRONG DATA LOG] under main menu [SETUP].
·Execute "RESTORE" by selecting "UTILITY" from the pull-down menu.
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Ethernet function.
Main CPU board failure (1)Turn the power OFF then back ON.
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(2)If the alarm occurs again, replace controller.
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Number Code
3 An error occurred in the Setting error (1)Check the following settings.
acquisition process of gateway ·The DHCP server operation (If the DHCP is used)
during the network service data ·The network status (If the DHCP is used)
creation process of the Ethernet
function.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
4 An error occurred in the Setting error (1)Check the following settings.
conversion process of gateway ·The DHCP server operation (If the DHCP is used)
address during the network ·The network status (If the DHCP is used)
service data creation process of
the Ethernet function.
Main CPU board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace controller.
6 An error occurred in the Setting error (1)Check the following settings.
acquisition process of domain ·The DHCP server operation (If the DHCP is used)
during the network service data ·The network status (If the DHCP is used)
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(SERVO PARAMETER) (2)If the alarm occurs again, check the parameter setting if there were any
parameters which were modified before the alarm.
(3)If the alarm occurs again or when it occurs other than above mentioned (2)
case, contact your YASKAWA representative.
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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4302 BRAKE CIRCUIT Software operation error (1)Reset the alarm
ERROR occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4303 CONVERTER READY Sub Code: Signifies the physical Connection failure (1)Reset the alarm
SIGNAL ERROR No. of converter in which the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
alarm occurred replace controller to be safe.
Module failure (converter) (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4304 CONVERTER INPUT Sub Code: Signifies the physical Module failure (converter) (1)Reset the alarm
9-130
POWER ERROR No. of converter in which the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
alarm occurred replace controller to be safe.
Connection failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4305 CONVERTER CIRCUIT Sub Code: Signifies the physical Module failure (converter) (1)Reset the alarm
CHARGE ERROR No. of converter in which the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
alarm occurred replace controller to be safe.
Module failure (Regenerative (1)Reset the alarm
resistor) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4307 SERVO ON DEFECTIVE Sub Code: Signifies the axis in Movement of axis when the Turn ON the servo power after 5 or more seconds from the alarm occurrence.
SPEED which the alarm occurred SERVO ON process
Mechanical failure Check that the manipulator is not moving when the servo turned ON.
Servo control board failure (1)Reset the alarm
RE-CHO-A111
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
159645-1CD
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Connection failure (1)Reset the alarm
(2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
{Robot axis}
·Cable between encoders
{External axis}
·Cable between encoders
(3)If the alarm occurs again, replace controller
Module failure (motor) (1)Reset the alarm
(2)If the alarm occurs again, replace the motor.
4308 VOLTAGE DROP Sub Code: Signifies the physical Voltage failure Check if the primary power supply voltage is dropping.
(CONVERTER) No. of converter in which the
alarm occurred
Connection failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Reset the alarm
9-131
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4309 DEFECTIVE ENCODER Sub Code: Signifies the axis in Connection failure (1)Reset the alarm
INTERNAL DATA which the alarm occurred (2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
{Robot axis}
·Cable between encoders
{External axis}
·Cable between encoders
(3)If the alarm occurs again, replace controller
Module failure (encoder) (1)Reset the alarm
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4311 ENCODER BACK-UP Sub Code: Signifies the axis in Module failure (encoder [AL-4314 occurred]
ERROR which the alarm occurred battery) Replace the battery of the axis in which the error occurred.
[AL-1327 occurred]
Replace the battery of the axis in which the alarm occurred. If the home position
of the corresponding axis is displays as "***", register the home position.
Connection failure (1)Reset the alarm
(2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
{Robot axis}
·Cable between encoders
{External axis}
·Cable between encoders
Module failure (encoder) (1)Reset the alarm
(2)If the alarm occurs again, replace the encoder.
9-132
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Interference error Remove the following interferences.
·The interferences to the jigs of Robot.
·The interferences to the jigs of workpieces.
·If there is no interference between robot and workpieces, set the shock
detection level to more than maximum eternal value. Up to 500% of the level is
possible.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
·The motor power line
·The encoder line
Connection failure (1) If the alarm occurs again, check the wiring of phase-U, -V, and -W isn't
disconnected.
(2) If disconnected, replace the motor power wire.
Connection failure (1) Check that the motor brake wire is not disconnected.
(2) If disconnected, replace the motor brake wire.
Servo control board failure (1)Reset the alarm
9-133
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (amplifier) (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (motor) (1)Reset the alarm
(2)If the alarm occurs again, replace the motor.
Maintenance failure Measure the density of grease iron powder in the speed reducer and do the
maintenance.
Defective speed reducer Replace the speed reducer or the grease of it.
4318 SERIAL ENCODER Sub Code: Signifies the axis in Connection failure (1)Reset the alarm
CORRECTION LIMIT which the alarm occurred (2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
RE-CHO-A111
{Robot axis}
·Cable between encoders
{External axis}
·Cable between encoders
Module failure (encoder) (1)Reset the alarm.
(2)If the alarm occurs again, replace the encoder.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4320 OVERLOAD Sub Code: Signifies the axis in Setting error Check the following settings.
(CONTINUE) which the alarm occurred ·The tools or the mass of the workpieces
Interference with peripheral Remove interference with the workpiece and peripheral device.
devices
Setting error Review the JOB to check if the load factor doesn't exceed 100%.
159645-1CD
Module failure (converter) (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4322 AMPLIFIER OVERLOAD Sub Code: Signifies the axis in Setting error Check the following settings.
(CONTINUE) which the alarm occurred ·The tools or the mass of the workpieces
Interference error Remove interference with the workpiece and peripheral device.
Setting error Correct the job whether load late does not exceed 100%.
Servo control board failure (1)Check that 24V is generated to the brake bolt of the following terminals.
·Motor brake terminal
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, replace the following cables.
·The wire harness in the robot.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4323 AMPLIFIER OVERLOAD Sub Code: Signifies the axis in Setting error Check the following settings.
(MOMENT) which the alarm occurred ·The tools or the mass of the workpieces
Interference error Remove interference with the workpiece and peripheral device.
Setting error Correct the job whether load late does not exceed 100%.
Servo control board failure (1)Check that 24V is generated to the brake bolt of the following terminals.
·Motor brake terminal
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, replace the following cables.
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4324 CONVERTER Setting error Check the settings of the following.
OVERLOAD ·If the tool or the workpiece used has exceeded the allowable load.
Setting error Adjust the job speed.
Adjust the acceleration/deceleration of ACC and DEC instructions.
Module failure (converter) (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4326 OVER SPEED Sub Code: Signifies the axis in Setting error Check the following settings.
which the alarm occurred ·Reduction in the motion speed
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check that U-, V- and W-phase are appropriately
connected.
Module failure (1)Reset the alarm.
9-136
4328 SERVO TRACKING Sub Code: Signifies the axis in Setting error Check the settings of the followings.
ERROR which the alarm occurred ·Tool file setting
·The tools or the mass of the workpieces
159645-1CD
Interference error Remove interference with the workpiece and peripheral device.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Teaching accelerating/ Adjust the acceleration/deceleration of ACC and DEC instructions.
decelerating speed maximum
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
·The motor power line
·The encoder line
Module failure (1)Reset the alarm.
(brake) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (amplifier) (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (1)Reset the alarm.
(motor) (2)If the alarm occurs again, replace the motor.
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
9-137
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
12 The motion speed at the center of Setting error Check the following settings.
the flange exceeded the specified ·Reduction in the motion speed
max. speed.
Setting error (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check that U-, V- and W-phase are appropriately
connected.
Module failure (motor) (1)Reset the alarm.
(2)If the alarm occurs again, replace the motor.
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
21 The motion speed at the center of Software operation error Check the following settings.
the control point exceeded the occurred ·Reduction in the motion speed
9-138
159645-1CD
then contact your YASKAWA representative about occurrence status (operating
procedure).
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FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, check that U-, V- and W-phase are appropriately
connected.
Module failure (motor) (1)Reset the alarm.
(2)If the alarm occurs again, replace the motor.
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4334 OVERVOLTAGE Sub Code: Signifies the physical Connection failure (1)Reset the alarm.
(CONVERTER) No. of converter in which the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
alarm occurred replace controller to be safe.
Setting error Check the following settings.
·The tools or the mass of the workpieces
Voltage failure Modify the primary breaker voltage to the specified voltage 200V(+10% to
15%).
Module failure (Regenerative (1)Reset the alarm.
9-139
resistor) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4336 OPEN PHASE Sub Code: Signifies the physical Connection failure (1)Reset the alarm.
(CONVERTER) No. of converter in which the (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
alarm occurred replace controller to be safe.
Voltage failure Modify the primary breaker voltage to the specified voltage 200V(+10% to
15%).
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4337 OVERCURRENT Sub Code: Signifies the axis in Connection failure (1)Reset the alarm.
(AMP) which the alarm occurred (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, replace the following cables.
·Manipulator cable
·Supply cable
TROUBLE which the alarm occurred (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
(CONVERTER) replace controller to be safe.
Module failure (Regenerative (1)Reset the alarm.
resistor) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Overloading Check that the load does not exceed the allowable limit.
4341 DISLOCATION DETECT Sub Code: Signifies the axis in Interference error Remove the following interferences.
which the alarm occurred ·The interferences to the jigs of Robot.
·The interferences to the jigs of workpieces.
Parts damage Check the following parts.
RE-CHO-A111
·damage of spring
·damage of bushing
159645-1CD
Software operation error Check the following settings.
occurred ·The tool information
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4344 LINEAR SERVOFLOAT Software operation error Confirm the job settings so that excess load would not be applied to the axis in
TRACKING ERROR occurred the linear servo float.
4345 LNK SERVOFLOAT Setting error Confirm the job settings so that excess load would not be applied to the axis in
EXECUTE ERROR the linear servo float.
4346 LNK SERVOFLOAT TRQ Setting error Check the limit torque of the link servo float condition file.
LIMIT ERROR
4347 LNR SERVOFLOAT TRQ Setting error Check the limit torque of the link servo float condition file.
LIMIT ERROR
4348 LNR SERVOFLOAT Setting error Check the setting file of the job and the linear servo float.
COORD TYPE ERROR
4349 LNR SERVOFLOAT Setting error Check the setting file of the job and the linear servo float.
TOOL POSE ERROR
4350 LNR SERVOFLOAT Setting error Check the settings for jobs.
EXECUTE ERROR
4351 DRIVE BELT SNAP Sub Code: Signifies the axis in Connection failure Check that the driving belt is not broken.
DETECT which the alarm occurred
9-141
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (motor) (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
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Number Code
4353 DEFECTIVE TAUGHT Sub Code: Signifies the axis in Setting error Check the following settings.
POINT which the alarm occurred ·Setting of the command soft (JOB)
(ENDLESS) ·MRESET instruction to corresponding axis
3 The arithmetic processing section Software operation error (1)Reset the alarm, and then try again.
is not ready for the playback occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
operation. then contact your YASKAWA representative about occurrence status (operating
procedure).
4 The prereading processing in the Software operation error (1)Reset the alarm, and then try again.
arithmetic processing section has occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
not completed. then contact your YASKAWA representative about occurrence status (operating
procedure).
5 The arithmetic processing section Software operation error (1)Reset the alarm, and then try again.
is not ready for the timer follow-up occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
of the conveyor tracking function. then contact your YASKAWA representative about occurrence status (operating
procedure).
4401 SEQUENCE TASK 1 Unused A_BANK does not exist in Software operation error (1)Reset the alarm, and then try again.
CONTR ERROR the prereading processing of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
move instruction. then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
2 Unused bank priority does not Software operation error (1)Reset the alarm, and then try again.
exist in the prereading processing occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
159645-1CD
of move instruction. then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 A_BANK pointer is not set. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 A_BANK conversion could not be Software operation error (1)Reset the alarm, and then try again.
performed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
7 The specified A_BANK number Software operation error (1)Reset the alarm, and then try again.
does not exist. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
20 An error occurred when system Software operation error (1)Reset the alarm, and then try again.
number (MSS) was obtained. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
21 An error occurred in RMS960 Software operation error (1)Reset the alarm, and then try again.
9-143
system call. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
22 Undefined interrupt command Software operation error (1)Reset the alarm, and then try again.
was received. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
23 Job start condition is not defined. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
24 An error occurred in instruction Software operation error (1)Reset the alarm, and then try again.
prefetch queue operation. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
26 Intermediate code is not defined. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
29 Instruction prereading processing Software operation error (1)Reset the alarm, and then try again.
has not been completed normally. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
30 An error occurred in job data Software operation error (1)Reset the alarm, and then try again.
change. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
31 The specified sequence number Software operation error (1)Reset the alarm, and then try again.
at job execution start is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
32 The added area for interruption Software operation error (1)Reset the alarm, and then try again.
command is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
33 System number (MSS) for Software operation error (1)Reset the alarm, and then try again.
9-144
interruption command is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
38 An error occurred at start of twin Software operation error (1)Reset the alarm, and then try again.
synchronous operation. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
39 An error occurred when SYNC Software operation error (1)Reset the alarm, and then try again.
specification was reset. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
41 An error occurred in occupation Software operation error (1)Reset the alarm, and then try again.
control group setting in MOTION occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
section. then contact your YASKAWA representative about occurrence status (operating
procedure).
45 An error occurred in path/trace Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
control. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
159645-1CD
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
47 An error occurred when waiting Software operation error (1)Reset the alarm, and then try again.
for a completion of main system occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
task (job) in SYNC specification. then contact your YASKAWA representative about occurrence status (operating
procedure).
48 An attempt was made to execute Software operation error (1)Reset the alarm, and then try again.
an instruction that could not be occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
executed at line sequence then contact your YASKAWA representative about occurrence status (operating
execution. procedure).
49 An error occurred when during the Software operation error (1)Reset the alarm, and then try again.
instruction data acquisition occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
process. then contact your YASKAWA representative about occurrence status (operating
procedure).
80 An exceptional error occurred in Software operation error (1)Reset the alarm, and then try again.
job execution process. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
100 Main processing command is Software operation error (1)Reset the alarm, and then try again.
9-145
incorrect in prereading occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
processing. then contact your YASKAWA representative about occurrence status (operating
procedure).
101 Subprocessing command is Software operation error (1)Reset the alarm, and then try again.
incorrect in prereading occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
processing. then contact your YASKAWA representative about occurrence status (operating
procedure).
102 Prereading processing has not Software operation error (1)Reset the alarm, and then try again.
been completed at job execution. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
103 A_BANK conversion has not been Software operation error (1)Reset the alarm, and then try again.
completed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
104 System number (MSS) is Software operation error (1)Reset the alarm, and then try again.
incorrect in prereading occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
processing. then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
105 An error occurred in instruction Software operation error (1)Reset the alarm, and then try again.
prefetch queue operation in occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
prereading processing. then contact your YASKAWA representative about occurrence status (operating
procedure).
106 An error occurred at IES switching Software operation error (1)Reset the alarm, and then try again.
in prereading processing. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4402 UNDEFINED COMMAND Software operation error (1)Reset the alarm, and then try again.
(ARITH) occurred (2)Check the following settings.
·the base-axis position must be registered for the system with base-axis
MOVL P00001 BP00001
(3)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4404 ARITHMETIC ERROR 8 Interpolation such as linear and Setting error (1)Check the following settings.
circular interpolation cannot be ·Change the step (move instruction), where the alarm occurred, to MOVJ.
performed with this manipulator.
9-146
10 The setting of the form data for Setting error (1)Check the following settings.
Flip/No Flip is not "B-axis Angle". ·Set "1" to "S2C658: Type data detail settings".
11 An attempt was made to pass the Setting error (1)Check the following settings.
B-axis zero degree position ·Check the teaching position of the job so that the manipulator does not pass
(singular area). the B-axis zero degree position (singular area).
4406 GROUP AXIS CONTROL 1 Designation error for master and Software operation error (1)Reset the alarm, and then try again.
ERROR slave occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Slave designation error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
3 Slave interpolation error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 No designation of master axis Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 Master-axis designation error for Software operation error (1)Reset the alarm, and then try again.
JOG motion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
7 Slave-axis designation error for Software operation error (1)Reset the alarm, and then try again.
JOG motion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
8 Occupation control error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 Designation error of occupation Software operation error (1)Reset the alarm, and then try again.
9-147
control for JOG motion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
10 Designation error of occupation Software operation error (1)Reset the alarm, and then try again.
control for Bank position occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 Designation error of occupation Software operation error (1)Reset the alarm, and then try again.
control group for tracking motion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
12 No master and slave designated Software operation error (1)Reset the alarm, and then try again.
for tracking motion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
4407 TWO STEPS SAME Setting error (1)Check the following settings.
POSITION ·Check the settings for teaching position of circular interpolation steps so that
(CIRC) each point is different.
4409 TWO STEPS SAME Setting error (1)Check the following settings.
POSITION ·Check the settings for three taught points to create an user coordinate system
(3 STEPS) so that each point is different.
249 of 348
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4414 EXCESSIVE SEGMENT Sub Code: Control group and axis Setting error (1)Reduce the speed in the step where the alarm occurred.
(LOW/HIGH) (2)Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.
4416 PULSE LIMIT Sub Code: Control group and axis Setting error (1)Check the following settings.
(MIN./MAX.) ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
4418 CUBE LIMIT Sub Code: Control group and Setting error (1)Check the following settings.
(MIN./MAX.) XYZ ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
4420 SPECIAL SOFTLIMIT Sub Code: Control group and axis Setting error (1)Check the following settings.
(MIN./MAX.) ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
4422 MECHANICAL Sub Code: Control group and axis Setting error (1)Check the following settings.
INTERFERENCE ·Perform the teaching again to correct positions for manipulators so that the
(MIN./MAX.) step where the alarm occurred is within the motion range.
4424 SPECIAL MECHANICAL Sub Code: Control group and axis Setting error (1)Check the following settings.
INTRF(MIN./MAX.) ·Perform the teaching again to correct positions for manipulators so that the
9-148
4426 PULSE MECHANICAL Sub Code: Control group and axis Setting error (1)Check the following settings.
LIMIT(MIN./MAX.) ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
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250 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4428 SEGMENT CONTROL 1 RT-buffer control command error Software operation error (1)Reset the alarm, and then try again.
ERROR occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Segment-receiving control Software operation error (1)Reset the alarm, and then try again.
command error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
3 No bank priority Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 Answer error at MOVE simulating Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 The value of bank_refresh_flag(x) Software operation error (1)Reset the alarm, and then try again.
9-149
exceeded its limit. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
8 RT-buffer tracking option error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 The segment was received Software operation error (1)Reset the alarm, and then try again.
although the previous segment occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
had not been sent. then contact your YASKAWA representative about occurrence status (operating
procedure).
10 Segment creation is requested Software operation error (1)Reset the alarm, and then try again.
before segment-receiving is occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
completed. then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
4429 WRONG SPECIFIED 1 Control group not designated Software operation error (1)Reset the alarm, and then try again.
CONTROL GROUP occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
251 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 Slave control-group error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
3 Master control-group error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 Master and Slave control-group Software operation error (1)Reset the alarm, and then try again.
error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 Control-group error for a job file Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 Control-group error for a user Software operation error (1)Reset the alarm, and then try again.
9-150
coordinate file occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
7 Control-group error for a Software operation error (1)Reset the alarm, and then try again.
calibration file between occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
manipulators then contact your YASKAWA representative about occurrence status (operating
procedure).
8 Control-group error for a tool Software operation error (1)Reset the alarm, and then try again.
calibration file occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
10 Control-group error for Software operation error (1)Reset the alarm, and then try again.
prereading-calculation start point occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(for adv_st_pos) then contact your YASKAWA representative about occurrence status (operating
procedure).
11 Control-group error for the Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
current-value preset position occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
159645-1CD
252 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
12 Control-group error for the Software operation error (1)Reset the alarm, and then try again.
conveyor prereading-calculation occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
start point then contact your YASKAWA representative about occurrence status (operating
procedure).
13 Occupation control-group error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
18 Control-group error for the Software operation error (1)Reset the alarm, and then try again.
prereading-calculation start point occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(for dm_st_pos) then contact your YASKAWA representative about occurrence status (operating
procedure).
19 Control-group error for Software operation error (1)Reset the alarm, and then try again.
prereading-calculation start point occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(for dm_st_pos) then contact your YASKAWA representative about occurrence status (operating
procedure).
4430 CPU COMMUNICATION 1 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
9-151
ERROR between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
system control section then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
SL#1 then contact your YASKAWA representative about occurrence status (operating
procedure).
3 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
SL#2 then contact your YASKAWA representative about occurrence status (operating
procedure).
4 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
SL#3 then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
5 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
SL#4 then contact your YASKAWA representative about occurrence status (operating
procedure).
253 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
6 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
CV#1 then contact your YASKAWA representative about occurrence status (operating
procedure).
7 Interrupt processing error Software operation error (1)Reset the alarm, and then try again.
between MOTION section and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
CV#2 then contact your YASKAWA representative about occurrence status (operating
procedure).
4431 JHM ERROR 1 An error occurred in JMS system Software operation error (1)Reset the alarm, and then try again.
call when an attempt was made to occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
open a job. then contact your YASKAWA representative about occurrence status (operating
procedure).
2 No space was found in job handle Software operation error (1)Reset the alarm, and then try again.
value storage area when an occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
attempt was made to open a job. then contact your YASKAWA representative about occurrence status (operating
procedure).
3 No job handle was found. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
9-152
procedure).
4 Job control proprietary is Software operation error (1)Reset the alarm, and then try again.
incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 Job control proprietary could not Software operation error (1)Reset the alarm, and then try again.
be changed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 An error occurred in exclusive Software operation error (1)Reset the alarm, and then try again.
control. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4432 INSTRUCTION 1 The intermediate code of the Software operation error (1)Reset the alarm, and then try again.
INTERPRETER ERROR instruction that is to be executed occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
3 Destination (variable) tag Software operation error (1)Reset the alarm, and then try again.
arrangement is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
159645-1CD
then contact your YASKAWA representative about occurrence status (operating
procedure).
254 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 Tag data type is incorrect. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 Box number is incorrect. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 An error occurred in block Software operation error (1)Reset the alarm, and then try again.
separation processing of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
intermediate code. then contact your YASKAWA representative about occurrence status (operating
procedure).
8 Box number definition is Software operation error (1)Reset the alarm, and then try again.
duplicated. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 Undefined instruction was found Software operation error (1)Reset the alarm, and then try again.
9-153
at block separation of occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
intermediate code. then contact your YASKAWA representative about occurrence status (operating
procedure).
10 IPRM is not set. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 An error occurred in tag data Software operation error (1)Reset the alarm, and then try again.
search process. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
12 An error occurred move Software operation error (1)Reset the alarm, and then try again.
instruction search process. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
14 Variable information does not Software operation error (1)Reset the alarm, and then try again.
exist. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
255 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
16 An error occurred at position file Software operation error (1)Reset the alarm, and then try again.
data reading. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
17 Variable data type is not defined. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
18 An instruction is included with Software operation error (1)Reset the alarm, and then try again.
incorrect intermediate code in occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
expression instruction. then contact your YASKAWA representative about occurrence status (operating
procedure).
19 The syntax in expression Software operation error (1)Reset the alarm, and then try again.
instruction is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
20 The tag data length is zero when Software operation error (1)Reset the alarm, and then try again.
9-154
tag data is read. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
22 The object to be processed was Software operation error (1)Reset the alarm, and then try again.
secret variable in position file occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
control process, so it could not be then contact your YASKAWA representative about occurrence status (operating
processed. procedure).
23 The object to be processed was Software operation error (1)Reset the alarm, and then try again.
position type variable in position occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
file control process, so it could not then contact your YASKAWA representative about occurrence status (operating
be processed. procedure).
24 Job argument settings do not Software operation error (1)Reset the alarm, and then try again.
match when a variable is given occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
and/or taken between jobs. then contact your YASKAWA representative about occurrence status (operating
procedure).
25 An attempt was made to perform Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
undefined operation at four-rule occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
operation instruction. then contact your YASKAWA representative about occurrence status (operating
procedure).
159645-1CD
256 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
26 Arithmetic stack used for Software operation error (1)Reset the alarm, and then try again.
expression operation exceeded. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
27 Arithmetic stack used for Software operation error (1)Reset the alarm, and then try again.
expression operation is empty. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
28 Operation items are lacking in Software operation error (1)Reset the alarm, and then try again.
expression operation and occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
operation processing cannot be then contact your YASKAWA representative about occurrence status (operating
performed. procedure).
29 Sub instruction which has EXEC Software operation error (1)Reset the alarm, and then try again.
process exceeded the maximum occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
number. then contact your YASKAWA representative about occurrence status (operating
procedure).
254 Access mechanism for old Software operation error (1)Reset the alarm, and then try again.
9-155
parameters is used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
255 An exceptional error occurred. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4433 UNDEFINED GLOBAL 0 The set data for byte type variable Software operation error (1)Reset the alarm, and then try again.
VARIABLE area is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
1 The set data for integer type Software operation error (1)Reset the alarm, and then try again.
variable area is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
2 The set data for double-precision Software operation error (1)Reset the alarm, and then try again.
integer-type variable area is occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
257 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 The set data for real type variable Software operation error (1)Reset the alarm, and then try again.
area is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 The set data for character-string Software operation error (1)Reset the alarm, and then try again.
type variable area is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 The set data for robot-axis Software operation error (1)Reset the alarm, and then try again.
position-type variable area is occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
6 The set data for base-axis Software operation error (1)Reset the alarm, and then try again.
position-type variable (S1D occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
parameter) area is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
7 The set data for station-axis Software operation error (1)Reset the alarm, and then try again.
9-156
position-type variable (S1D occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
parameter) area is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
4435 UNDEFINED LOCAL- 0 The byte type variable is not Setting error (1)Check the following settings.
VARIABLE defined. ·Set the number of local variables to be used in the job header.
1 The integer type variable is not Setting error (1)Check the following settings.
defined. ·Set the number of local variables to be used in the job header.
2 The double-precision integer-type Setting error (1)Check the following settings.
variable is not defined. ·Set the number of local variables to be used in the job header.
3 The real-number type variable is Setting error (1)Check the following settings.
not defined. ·Set the number of local variables to be used in the job header.
4 The character-string type variable Setting error (1)Check the following settings.
is not defined. ·Set the number of local variables to be used in the job header.
5 The robot-axis position-type Setting error (1)Check the following settings.
variable is not defined. ·Set the number of local variables to be used in the job header.
RE-CHO-A111
159645-1CD
7 The station-axis position-type Setting error (1)Check the following settings.
variable is not defined. ·Set the number of local variables to be used in the job header.
258 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4436 LESS THAN 3 STEPS Setting error (1)Check the following settings.
(CIRCULAR) ·Perform teaching so that circulation interpolation steps are continuous three
points or more.
4438 UNDEFINED JOB Setting error (1)Check the following settings.
·Check if the CALL/JUMP destination job is registered. If the job is not
registered, delete the JUMP instruction where an alarm occurred.
4439 UNDEFINED LABEL Setting error (1)Check the following settings.
·Check if the JUMP destination label is registered. If the label is not registered,
delete the JUMP instruction where alarm occurred.
4440 UNDEFINED RETURN Setting error (1)Check the following settings.
JOB ·If there is an illegal RET instruction in the start job, delete the RET instruction.
·Check if RET instruction is not executed under the condition that there is no job
in the job call stack. In that case, execute it from
4441 LACK OF LOCAL- Setting error (1)Check the following settings.
VARIABLE AREA ·Reduce the number of local variables to be used.
4444 UNSUCCESSFUL FINE Sub Code: Bit specification of axis Effect of external force (1)Check the following settings.
POSITIONING where error occurred ·Move the manipulator by the axis operation, etc. to remove the external force
9-157
259 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 A_BANK conversion has not been Software operation error (1)Reset the alarm, and then try again.
completed. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
255 An exceptional error occurred in Software operation error (1)Reset the alarm, and then try again.
job execution process. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4446 OVER VARIABLE LIMIT 0 The variable value exceeded the Setting error (1)Check the following settings.
limit. ·Check the settings for variable, and then correct the job to fall within the input
range of the tag.
1 The value for the binary (0/1) data Setting error (1)Check the following settings.
type variable exceeded the limit. ·Check the settings for variable, and then correct the job to fall within the input
range of the tag.
2 The value for the signed 1-byte Setting error (1)Check the following settings.
data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
9-158
3 The value for the unsigned 1-byte Setting error (1)Check the following settings.
data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
4 The value for the signed 2-byte Setting error (1)Check the following settings.
data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
5 The value for the unsigned 2-byte Setting error (1)Check the following settings.
data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
6 The value for the signed 4-byte Setting error (1)Check the following settings.
data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
7 The value for the unsigned 4-byte Setting error (1)Check the following settings.
data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
RE-CHO-A111
8 The value for the real-number 4- Setting error (1)Check the following settings.
byte data type variable is less ·Check the settings for variable, and then correct the job to fall within the input
than the minimum value. range of the tag.
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260 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
14 The value for the character-string Setting error (1)Check the following settings.
type variable is less than the ·Check the settings for variable, and then correct the job to fall within the input
minimum value. range of the tag.
32770 The value for the signed 1-byte Setting error (1)Check the following settings.
data type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
32771 The value for the unsigned 1-byte Setting error (1)Check the following settings.
data type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
32772 The value for the signed 2-byte Setting error (1)Check the following settings.
data type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
32773 The value for the unsigned 2-byte Setting error (1)Check the following settings.
data type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
32774 The value for the signed 4-byte Setting error (1)Check the following settings.
9-159
data type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
32775 The value for the unsigned 4-byte Setting error (1)Check the following settings.
data type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
32776 The value for the real-number 4- Setting error (1)Check the following settings.
byte data type variable exceeded ·Check the settings for variable, and then correct the job to fall within the input
the maximum value. range of the tag.
32782 The value for the character-string Setting error (1)Check the following settings.
type variable exceeded the ·Check the settings for variable, and then correct the job to fall within the input
maximum value. range of the tag.
4447 DEFECTIVE TAUGHT Setting error (1)Check the following settings.
POINT(CIRC) ·Check the settings for three teaching points so that circular interpolation steps
RE-CHO-A111
261 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 An error occurred in calibration Setting error (1)Check the following settings.
file number check between the ·Confirm that the specified robot calibration file number is 1 to 32.
manipulators.
4 An error occurred in tool Setting error (1)Check the following settings.
calibration file number check. ·Confirm that the specified tool file number is 0 to 63.
5 An error occurred in reference Setting error (1)Check the following settings.
point number check. ·Confirm that the specified robot calibration file number is 1 to 8.
9 An error occurred in conveyor Setting error (1)Check the following settings.
characteristic file number check. ·Confirm that the specified conveyor condition file number is 1 to 6.
10 An error occurred in press Setting error (1)Check the following settings.
characteristic file number check. ·Confirm that the specified press characteristic file number is 0 to 3.
12 An error occurred in conveyor Setting error (1)Check the following settings.
calibration file number check. ·Confirm that the specified conveyor calibration file number is 1 to 6.
13 An error occurred in argument Setting error (1)Check the following settings.
number check. ·Confirm that the argument number is 1 to 16.
15 An error occurred while checking Setting error (1)Check the following settings.
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the link (linear) servo float ·Confirm that the link (linear) servo float condition file number is within the range
condition file number. of 1 to 8.
4451 UNDEFINED Sub Code: Reference point Setting error (1)Check the following settings.
REFERENCE POINT number in binary ·Set the reference point.
4452 STACK MORE THAN 10 Setting error (1)Check the following settings.
(JOB CALL) ·Change the job configuration so that the number of nests for CALL instruction
is twelve or less.
4453 OVER VARIABLE NO. The variable number is out of Setting error (1)Check the following settings.
range. ·Correct the job using the variable number within the range.
Sub Code: The variable number
which an attempt was made to
use
4459 EXCESSIVE Setting error (1)Check the following settings.
INSTRUCTION ·Separate the operation expression, shorten the expression, and then check the
EQUATION settings for the job.
4460 ZERO DIVIDED Setting error (1)Check the following settings.
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·Check the settings for the parity data of the user I/O group.
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Number Code
4464 OVER BCD RANGE Setting error (1)Check the following settings.
·Correct the BCD data so that it is within the limit.
4465 OVER BINARY RANGE Setting error (1)Check the following settings.
(PARITY CHECK) ·Correct the binary data so that it is within the limit.
4466 OFFLINE UNDEFINED 0 An undefined command was Software operation error (1)Reset the alarm, and then try again.
COMMAND (ARITH) issued to the offline position-data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
preparation section. then contact your YASKAWA representative about occurrence status (operating
procedure).
4467 USER COORD STEP Setting error (1)Check the following settings.
NOT ENOUGH ·Correct the JOB that the number of steps will be three or more.
4468 ROBOT CALIBRATION 1 The calibration between Setting error (1)Check the following settings.
DATA ERROR manipulators cannot be executed ·Do not use a coordinated motion with this manipulator.
for this model.
2 The master group and the slave Software operation error (1)Reset the alarm, and then try again.
group are set to the same group. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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3 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
control group for master group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
control group for slave group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
occupation control group for occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
calibration data then contact your YASKAWA representative about occurrence status (operating
procedure).
6 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
RE-CHO-A111
enabling control group for occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
calibration data then contact your YASKAWA representative about occurrence status (operating
procedure).
7 Among three points in the master- Setting error (1)Check the following settings.
group's calibration data, two or ·Teach the data for calibration so that each point is different.
three points are on the same
point.
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Number Code
8 Among three points in the slave- Setting error (1)Check the following settings.
group's calibration data, two or ·Teach the data for calibration so that each point is different.
three points are on the same
point.
9 The number of the teaching points Software operation error (1)Reset the alarm, and then try again.
for calibration data is insufficient. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4469 ROBOT CALIBRATION 1 The calibration between Setting error (1)Check the following settings.
FRAME ERROR manipulators cannot be executed ·The calibration function between manipulators cannot be used for this model.
for this model.
2 The master group and the slave Setting error (1)Check the following settings.
group are set to the same group. ·Set the different groups for the master group and the slave group.
3 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
control group for master group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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4 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
control group for slave group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
5 Calibration data setting error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4470 ROBOT CARIB STEP Setting error (1)Check the following settings.
NOT ENOUGH ·Check the settings for number of the job steps
4471 ROBOT CALIBRATION 1 Incorrect number of teaching Software operation error (1)Reset the alarm, and then try again.
DATA ERROR points for tool calibration occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
occupation control group for occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
calibration data then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
3 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
enabling control group for occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
calibration data then contact your YASKAWA representative about occurrence status (operating
procedure).
4 Incorrect designation of the Software operation error (1)Reset the alarm, and then try again.
control group for calibration data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4473 ARITHMETIC ALARM Software operation error (1)Reset the alarm, and then try again.
RESET ERROR occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4474 WRONG CONTROL Sub Code:The related control- Setting error (1)Check the following settings.
GROUP AXIS group ·Make the setting in advance so that the control group of the CALL/JUMP
designation job is included in that of the CALL/JUMP source job.
·Don't start the job which including control group under already operation by
"PSTART".
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4475 CANNOT EXECUTE JOB Setting error (1)Check the following settings.
(NO ROBOT) ·Add the robot axis to the control-group of the job.
·A robot which executed SKILLSND is not defined as using MotoPlus sensor
related API. Check the combination of the robot and MotoPlus application. If the
alarm occurs again, save the CMOS.BIN in maintenance mode, and then
contact your YASKAWA representative about occurrence status (operating
procedure).
4476 CANNOT EDIT (EDIT 0 An attempt was made to change Setting error (1)Check the following settings.
LOCK JOB) the tag data. ·Release the prohibition.
1 An attempt was made to change Setting error (1)Check the following settings.
the speed tag data. ·Release the prohibition.
2 An attempt was made to change Setting error (1)Check the following settings.
the board thickness tag data. ·Release the prohibition.
RE-CHO-A111
4477 SELECT ERROR Sub Code: Application number Setting error (1)Check the following settings.
(APPLICATION) ·Set the application to a specified robot by the application selection of
maintenance mode.
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Number Code
4478 MM TASK NO Software operation error (1)Turn the power OFF then back ON.
RESPONSE (MotoPlus) occurred (2)If the alarm occurs again, replace controller and load the MotoPlus
application which was loaded to the previous controller.
(3)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your contact your YASKAWA representative about occurrence
status (operating procedure).
4479 MotoPlus MM TASK Software operation error Check if there is high priority task of MotoPlus application running long time.
WATCH DOG ERROR occurred Especially, check if there may be the process which waits for a special condition
without executing mpTaskDelay in loop process. If such process exists, suitable
remedy should be taken such as inserting mpTaskDelay, etc.
4480 SELECT ERROR Sub Code:Sensor number Setting error (1)Check the following settings.
(SENSOR 1) ·Select the option function for the specified robot in the option function selection
of maintenance mode.
4485 WRONG SELECTION Software operation error (1)Reset the alarm, and then try again.
(SENSOR) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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4487 WRONG MECH Software operation error (1)Reset the alarm, and then try again.
PARAMETER FILE occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4490 DEFECTIVE TAUGHT 1 After the Endless rotation Setting error (1)Check the following settings.
POINT completed, an attempt was made ·To perform an interpolation motion such as MOVL and MOVC after an Endless
(ENDLESS) to execute an interpolation rotation, execute an MRESET instruction beforehand.
instruction such as MOVL and
MOVC before executing an
MRESET instruction.
2 The base axis is set as an Setting error (1)Check the following settings.
Endless rotation axis. The ·Check the parameter setting that designates the Endless rotation axis.
Endless function cannot be used
with the base axis.
3 An attempt was made to execute Setting error (1)Check the following settings.
the Endless function although the ·Check the parameter setting that designates the Endless rotation axis.
endless axis was not designated.
RE-CHO-A111
4 The Endless axis exceeded the Setting error (1)Check the following settings.
maximum pulse value ·Set the rotation amount so that the Endless axis does not exceed the
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(±536870911). maximum pulse value.
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4491 CORRECTIONAL 1 Control-group designation error Software operation error (1)Reset the alarm, and then try again.
DIRECTION ERROR for correcting-direction occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
preparation then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Designation error for the Software operation error (1)Reset the alarm, and then try again.
correcting-direction coordinates occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
3 When "any direction" is set for the Setting error (1)Check the following settings.
correcting direction, the correction ·Check the settings for the correcting direction with the reference point (REFP).
coordinates is not prepared.
4 When "any direction" is set for the Setting error (1)Check the following settings.
correcting direction, the reference ·Check the settings for the reference points (REFP) so that each point is
points (REFP) are taught on the different.
same point.
5 Designation error for the Setting error (1)Check the following settings.
coordinated motion control axis at ·Match the control group designation of the wall point and weaving execution.
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Number Code
4495 UNDEFINED ROBOT Sub Code: Control group which Setting error (1)Check the following settings.
CALIBRATION calibration is not completed ·Before using the coordinated motion, execute the calibration between
manipulators.
4496 PARAMETER ERROR 1 The setting of the manipulator Setting error (1)Reset the alarm, and then try again.
number is incorrect. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Zero is set for the resolution. Setting error (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
3 Zero is set in the feedback pulse Setting error (1)Reset the alarm, and then try again.
parameter. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 The setting of L-axis ball-screw Setting error (1)Reset the alarm, and then try again.
data is incorrect. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
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Number Code
9 Zero or a negative value is set for Setting error (1)Reset the alarm, and then try again.
the play-mode servo averaging (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
time. then contact your YASKAWA representative about occurrence status (operating
procedure).
10 The setting of the manipulator Setting error (1)Reset the alarm, and then try again.
number is incorrect. An (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
undefined type is designated. then contact your YASKAWA representative about occurrence status (operating
procedure).
11 The incorrect coordinate system Setting error (1)Reset the alarm, and then try again.
is designated for the cubic (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
interference. An undefined then contact your YASKAWA representative about occurrence status (operating
coordinate system is set. procedure).
12 The designation of the user Setting error (1)Reset the alarm, and then try again.
coordinates number is incorrect. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
A number out of the setting range then contact your YASKAWA representative about occurrence status (operating
is set. procedure).
13 The reduction ratio <= 0 is output. Setting error (1)Reset the alarm, and then try again.
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(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
14 Zero or a negative value is set for Setting error (1)Reset the alarm, and then try again.
the spring constant. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
15 Zero or a negative value is set for Setting error (1)Reset the alarm, and then try again.
the motor inertia. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
16 Zero or a negative value is set for Setting error (1)Reset the alarm, and then try again.
the speed calculation constant. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
17 Dividing number setting error Setting error (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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18 The setting of allowable torque for Setting error (1)Reset the alarm, and then try again.
the speed reducer is incorrect. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
19 The setting of allowable torque for Setting error (1)Reset the alarm, and then try again.
the motor is incorrect. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
21 Zero or a negative value is set for Setting error (1)Reset the alarm, and then try again.
the balancer. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
22 The angle of hexagon set for the Setting error (1)Reset the alarm, and then try again.
CUT instruction is out of the range (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
"0 degree < angle < 60 degrees". then contact your YASKAWA representative about occurrence status (operating
procedure).
33 Zero is set for the response time Setting error (1)Reset the alarm, and then try again.
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constant. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
35 Zero is set for the averaging time Setting error (1)Reset the alarm, and then try again.
constant. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
36 Torque limit ratio data error Setting error (1)Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
39 The setting in the optimized Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
designation parameter is then contact your YASKAWA representative about occurrence status (operating
incorrect. procedure).
41 The dynamics-model calculation Setting error (1)Reset the alarm, and then try again.
RE-CHO-A111
at the optimized acceleration/ (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration is invalid. then contact your YASKAWA representative about occurrence status (operating
procedure).
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42 Zero is set for the inertia of Setting error (1)Reset the alarm, and then try again.
dynamics fixed model. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
43 Designation error for dynamics- Setting error (1)Reset the alarm, and then try again.
model calculation type (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
44 The optimized acceleration/ Setting error (1)Reset the alarm, and then try again.
deceleration control of speed limit (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
function is disabled. then contact your YASKAWA representative about occurrence status (operating
procedure).
45 The axis designation parameter Setting error (1)Reset the alarm, and then try again.
for the speed limit function is not (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
set. then contact your YASKAWA representative about occurrence status (operating
procedure).
46 The setting in the mode Setting error (1)Reset the alarm, and then try again.
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designation parameter for the (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
speed limit function is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
47 Zero or negative value is set in Setting error (1)Reset the alarm, and then try again.
the allowable braking torque (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
parameter for the speed limit then contact your YASKAWA representative about occurrence status (operating
function. procedure).
48 Zero or a negative value is set in Setting error (1)Reset the alarm, and then try again.
the speed adjustment ratio (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
parameter for the speed limit then contact your YASKAWA representative about occurrence status (operating
function. procedure).
49 Zero or a negative value is set in Setting error (1)Reset the alarm, and then try again.
the torque limit adjustment ratio (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
parameter for the acceleration/ then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
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51 Zero is set for the dimension Setting error (1)Reset the alarm, and then try again.
information "a3" for the SKR (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
manipulator. then contact your YASKAWA representative about occurrence status (operating
procedure).
53 The parameter setting for the Setting error (1)Reset the alarm, and then try again.
Cartesian manipulator X-axis data (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
54 The parameter setting for the Setting error (1)Reset the alarm, and then try again.
Cartesian manipulator Y-axis data (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
56 Zero or a negative value is set in Setting error (1)Reset the alarm, and then try again.
the FORMCUT maximum (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
acceleration/deceleration time then contact your YASKAWA representative about occurrence status (operating
parameter. procedure).
85 The setting of wrist axis angle for Setting error (1)Reset the alarm, and then try again.
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tube-incorporated wrist type (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
manipulators or three-roll wrist then contact your YASKAWA representative about occurrence status (operating
type manipulators is incorrect. procedure).
86 The special link JOG operation Setting error (1)Reset the alarm, and then try again.
cannot be used with this (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
manipulator. then contact your YASKAWA representative about occurrence status (operating
procedure).
87 The setting in the parameter for Setting error (1)Reset the alarm, and then try again.
special angle limit check (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
designation is incorrect. then contact your YASKAWA representative about occurrence status (operating
procedure).
92 A negative value is set in the Setting error (1)Reset the alarm, and then try again.
roundness parameter for the path- (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
priority control. then contact your YASKAWA representative about occurrence status (operating
procedure).
93 The link parameter for the cutting Setting error (1)Reset the alarm, and then try again.
RE-CHO-A111
device is not set. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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95 The real-time bending correction Setting error (1)Reset the alarm, and then try again.
function is enabled for a control- (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
group other than robot axis. then contact your YASKAWA representative about occurrence status (operating
procedure).
96 Zero is set for the dimension Setting error (1)Reset the alarm, and then try again.
information "a2" for the Arc Cell (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
Torch Arm type manipulators. then contact your YASKAWA representative about occurrence status (operating
procedure).
97 Zero is set for the deceleration Setting error (1)Reset the alarm, and then try again.
ratio for double T-axis unit of the (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
V-shaped double T-axis then contact your YASKAWA representative about occurrence status (operating
manipulator. procedure).
103 "α" is replaced with "0" in SKR1-5 Setting error (1)Reset the alarm, and then try again.
type robot. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
118 Wrong value in set for backlash Setting error (1)Reset the alarm, and then try again.
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correction function. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
121 Incorrect parameter setting to Setting error (1)Reset the alarm, and then try again.
inertia speed control function. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
122 Incorrect acceleration/ Setting error (1)Reset the alarm, and then try again.
deceleration time setting at tool (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
mass acceleration/deceleration then contact your YASKAWA representative about occurrence status (operating
speed correction function. procedure).
123 Incorrect coefficient/item settings Setting error (1)Reset the alarm, and then try again.
at tool mass acceleration/ (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration speed correction then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
function. procedure).
124 No tool mas as the minimum Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration time at (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
tool mass acceleration/ then contact your YASKAWA representative about occurrence status (operating
deceleration speed correction procedure).
function.
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125 Incorrect speed setting at tool Setting error (1)Reset the alarm, and then try again.
mass acceleration/deceleration (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
speed correction function. then contact your YASKAWA representative about occurrence status (operating
procedure).
126 Incorrect coefficient/item settings Setting error (1)Reset the alarm, and then try again.
at tool mass acceleration/ (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
deceleration speed control then contact your YASKAWA representative about occurrence status (operating
function. procedure).
127 No tool mass as the maximum Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration time at (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
tool mass acceleration/ then contact your YASKAWA representative about occurrence status (operating
deceleration speed control procedure).
function.
129 An error in the standard Setting error (1)Reset the alarm, and then try again.
arithmetical axis number setting (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
for approximation model. then contact your YASKAWA representative about occurrence status (operating
procedure).
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130 An error in the standard Setting error (1)Reset the alarm, and then try again.
expanding point number setting (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
for approximation model. then contact your YASKAWA representative about occurrence status (operating
procedure).
131 An error in the radius setting for Setting error (1)Reset the alarm, and then try again.
approximation model. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
132 setting error of arithmetical axis Setting error (1)Reset the alarm, and then try again.
number in D-H method. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
133 setting error of choosing no / Setting error (1)Reset the alarm, and then try again.
wrong connection base (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
arithmetical axis number in D-H then contact your YASKAWA representative about occurrence status (operating
method. procedure).
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135 Base axis control point → Robot Setting error (1)Reset the alarm, and then try again.
coordinate system offset setting (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
prohibited then contact your YASKAWA representative about occurrence status (operating
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procedure).
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136 Pulse linked JOG function Setting error (1)Reset the alarm, and then try again.
specification error (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
137 Dual drive control specification Setting error (1)Reset the alarm, and then try again.
error (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
138 Notch filter supported Setting error (1)Reset the alarm, and then try again.
acceleration and deceleration (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
tuning: Notch filter function setting then contact your YASKAWA representative about occurrence status (operating
error procedure).
139 Notch filter supported Setting error (1)Reset the alarm, and then try again.
acceleration and deceleration (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
tuning: Notch filter (z2) setting then contact your YASKAWA representative about occurrence status (operating
error procedure).
4497 DEFECTIVE TAUGHT 1 Some of the teaching points for Setting error (1)Check the following settings.
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POINT (CALIB) master-group are on the same ·Perform the teaching again so that the teaching points are different from one
point. another.
2 Some of the teaching points for Setting error (1)Check the following settings.
slave-group are on the same ·Perform the teaching again so that the teaching points are different from one
point. another.
3 The 2nd-axis positions of C3, C4, Setting error (1)Check the following settings.
and C5 of station axes are not the ·Perform the teaching again so that the 2ndaxis positions of C3, C4, and C5 of
same. the station axes are the same.
4 The 1st-axis positions of C1, C2, Setting error (1)Check the following settings.
and C3 of station axes are not the ·Perform the teaching again so that the 1staxis positions of C1, C2, and C3 of
same. station axes are the same.
5 The 2nd-axis positions of C1, C2, Setting error (1)Check the following settings.
and C3 of station axes are the ·Perform the teaching again so that the teaching positions are different from
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
8 The 1st-axis (elevation axis) Setting error (1)Check the following settings.
positions of C3, C4, and C5 of ·Perform the teaching again so that the 1staxis (elevation axis) positions of C3,
station axes are not the same. C4, and C5 of station axes are the same.
4498 CANNOT EXECUTE JOB An attempt was made to execute Setting error (1)Check the following settings.
(NO GRP AXIS) an instruction that could not be ·Check the settings for the job instruction with control group.
executed in a job without control
group.
4499 UNDEFINED POSITION Sub Code: The variable number Setting error (1)Check the following settings.
VARIABLE ·Check the settings for the position type variable.
4500 UNDEFINED USER Sub Code: User coordinate Setting error (1)Check the following settings.
FRAME number ·Check the settings for the user coordinate.
4501 OUT OF RANGE Sub Code: Task number Software operation error (1)Reset the alarm, and then try again.
(PARALLEL PROCESS) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4502 SL BOARD ON-LINE The option board was detected Software operation error (1)Reset the alarm, and then try again.
ERROR not to operate normally at power occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-174
ON. then contact your YASKAWA representative about occurrence status (operating
procedure).
4507 REFP POS ERROR Setting error (1)Check the following settings.
(SEARCH MOTION) ·Perform the teaching again so that the search start point and the motion target
point are not the same.
·Increase the distance between the search start point and the motion target
point.
4508 SPECIFIED ERROR 0 The specified coordinate system Setting error (1)Check the following settings.
(COORDINATE) does not exist. ·Check the settings for the coordinate system which can be used.
1 Designation error of the master Setting error (1)Check the following settings.
tool coordinate system. This ·Check the settings for the coordinate system which can be used.
coordinate system cannot be
used.
2 Designation error of the tool Setting error (1)Check the following settings.
coordinate system. This ·Check the settings for the coordinate system which can be used.
coordinate system cannot be
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used.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 Designation error of the direction Setting error (1)Check the following settings.
of travel coordinate system (for a ·Check the settings for the coordinate system which can be used.
shared function). This coordinate
system cannot be used.
4 Designation error of the any Setting error (1)Check the following settings.
direction coordinate system (for a ·Check the settings for the coordinate system which can be used.
shared function). This coordinate
system cannot be used.
6 Designation error of the conveyor Setting error (1)Check the following settings.
coordinate system. This ·Check the settings for the coordinate system which can be used.
coordinate system cannot be
used.
10 Designation error of the cylindrical Setting error (1)Check the following settings.
coordinate system. This ·Check the settings for the coordinate system which can be used.
coordinate system cannot be
used.
11 Designation error of the Setting error (1)Check the following settings.
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coordinate system for the external ·Check the settings for the coordinate system which can be used.
reference point. This coordinate
system cannot be used.
4509 MFRAME ERROR 1 The master-tool user coordinates Setting error (1)Check the following settings.
could not be prepared. ·Execute the MFRAME instruction in coordinated job when you make the
master tool user coordinate.
4510 CANNOT EXECUTE Setting error (1)Check the following settings.
INSTRUCTION (SQRT) ·Check the job settings so that the second argument of SQRT instruction does
not become negative.
4511 OUT OF RANGE Sub Code: Control group Setting error (1)Check the following settings.
(DROP-VALUE) exceeding the allowable value ·Confirm the load setting to the robot.
4512 TWO STEPS SAME LINE Setting error (1)Check the following settings.
(3 STEPS) ·Check the settings so that the teaching points are not aligned in a straight line.
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4513 EXCESSIVE SEGMENT Sub Code: Control group and axis Setting error (1)Check the following settings.
(SAFETY 1): LOW/HIGH ·Reduce the speed of the step where the alarm occurred.
·Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.
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Number Code
4515 EXCESSIVE SEGMENT Sub Code: Control group and axis Setting error (1)Check the following settings.
(SAFETY 2): LOW/HIGH ·Reduce the speed of the step where the alarm occurred.
·Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.
4517 SEARCH MONITOR SET Sub Code: The related control- Software operation error (1)Reset the alarm, and then try again.
ERROR (SERVO) group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4518 SEARCH MON Sub Code: The related control- Software operation error (1)Reset the alarm, and then try again.
RELEASE ERROR group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(SERVO) then contact your YASKAWA representative about occurrence status (operating
procedure).
4521 WRONG JOB TYPE Sub Code Setting error (1)Check the following settings.
0000_0001: A robot job was ·Check the settings for the job to be started.
started from the concurrent job at
CALL/JUMP instruction
execution.
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2 An error occurred at instruction Software operation error (1)Reset the alarm, and then try again.
read-in. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 The tag is not registered. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 The tag data was variable Setting error (1)Check the following settings.
specification. ·The variable tag cannot be changed. Correct the job so as not to use the
variable tag.
5 The value which it was made to Setting error (1)Check the following settings.
change exceeded the limit of tag ·Check the contents of changing data.
data.
7 An error occurred at tag data Software operation error (1)Reset the alarm, and then try again.
change. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4524 CANNOT EXECUTE Setting error (1)Check the following settings.
INST (COUCUR JOB) ·Delete an instruction that cannot be executed such as move instruction in the
concurrent job.
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4525 CANNOT EXECUTE 1 An interrupt job (user setting) is Setting error (1)Check the following settings.
SPECIFIED JOB started up during the back ·Check the job so that the interrupt job will not start-up during the back
operation. operation.
2 An interrupt macro job is started Setting error (1)Check the following settings.
up during the back operation. ·Check the job so that the interrupt macro job will not start-up during the back
operation.
3 An interrupt job (inside the Setting error (1)Check the following settings.
system) is started up during the ·Check the job so that the interrupt job will not start-up during the back
back operation. operation.
4527 UNDEFINED PORT Setting error (1)Check the following settings.
NO.(AOUT) ·Check the settings for the specified analog output port number.
4528 SYNTAX ERROR 1 A syntax error was found in the IF Software operation error (1)Reset the alarm, and then try again.
sentence. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3 A job only with master control Setting error (1)Check the following settings.
group axes was started by SYNC ·Check the control group setting of the job to be started by SYNC.
instruction.
4 At full synchronization, the Software operation error (1)Reset the alarm, and then try again.
completion timings of move occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
instructions for the master and the then contact your YASKAWA representative about occurrence status (operating
slave disagreed. procedure).
5 At full synchronization, no Software operation error (1)Reset the alarm, and then try again.
operation request from the master occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
was sent. then contact your YASKAWA representative about occurrence status (operating
procedure).
6 At full synchronization, the Software operation error (1)Reset the alarm, and then try again.
execution timings of move occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
instructions for the master and the then contact your YASKAWA representative about occurrence status (operating
slave disagreed. procedure).
7 The twin synchronous ID number Software operation error (1)Reset the alarm, and then try again.
is incorrect. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-178
conveyor characteristic file ·Check the specification of conveyor condition file number for use.
number used are incorrect.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 There was no conveyor start Software operation error (1)Reset the alarm, and then try again.
position data at prereading occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
processing. then contact your YASKAWA representative about occurrence status (operating
procedure).
10 No base axis in the job for arc Setting error (1)Check the following settings.
tracking ·Correct the job setting so that the arc tracking is executed in the job where
robot axis exists.
4531 UNDEFINED Sub Code: Conveyor Setting error (1)Check the following settings.
CONVEYOR COND FILE characteristic file number ·Set "Use state" of conveyor characteristic file to "1: Use".
4532 CONVEYOR SPEED Sub Code: Conveyor number Setting error (1)Check the following settings.
DOWN ·Correct the "Conveyor Lowest Speed" set in the conveyor characteristic file.
4533 ARITHMETIC ERROR 1 Designation error of the conveyor Software operation error (1)Reset the alarm, and then try again.
(CV TRACKING) tracking control-group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Designation error of the user Software operation error (1)Reset the alarm, and then try again.
coordinates for the conveyor occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
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tracking then contact your YASKAWA representative about occurrence status (operating
procedure).
3 An attempt was made to use the Setting error (1)Check the following settings.
conveyor tracking function with ·The conveyor tracking cannot be executed to the slave manipulator of the
the slave manipulator at coordinate system. Correct the job so that the conveyor tracking perform by the
coordinate motion. robot unit or without coordinated motion.
4 Zero is set for the resolution for Setting error (1)Check the following settings.
the turn-table synchronization. ·Check the settings for the resolution.
5 Base axis tracking application Setting error (1)Check the following settings.
error at the control whose ·Set the tracking system to "robot axis tracking".
conveyor coordinates are ·Do not operate between different conveyors while it is set to "base-axis
different. tracking".
6 Turn table tracking application Setting error (1)Check the following settings.
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error at the control whose ·Do not operate between different conveyors while it is set to turn table
conveyor coordinates are synchronization.
different.
7 Interpolation error of the control Setting error (1)Check the following settings.
whose conveyor coordinates are ·Teach interpolation method to SYMOVL when operating between different
different. conveyors.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4534 TORQUE Setting error (1)Check the following settings.
INTERFERENCE ·Correctly set the weight information in the tool file. ( Are the weight: W and the
number set to the load value of either Xg, Yg or Zg)
·Reduce the speed in the step where the alarm occurred.
4535 TARGET VARIABLE 0 An attempt was made to obtain Setting error (1)Check the following settings.
TYPE UNMATCHED the byte type system variable by ·Obtain as the byte type variable.
the other type variable.
1 An attempt was made to obtain Setting error (1)Check the following settings.
the integer type system variable ·Obtain as the integer type variable.
by the other type variable.
2 An attempt was made to obtain Setting error (1)Check the following settings.
the double-precision integer-type ·Obtain as the double-precision integer-type variable.
system variable by the other type
variable.
3 An attempt was made to obtain Setting error (1)Check the following settings.
the real-number type system ·Obtain as the real-number type variable.
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for the Corner-R motion could not ·Make the setting for the Corner-R radius small.
be calculated inside the start zone ·Make the moving amount of the Corner-R start step long.
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or the end zone. ·Make the moving amount of the Corner-R start end long.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5 The Corner-R motion cannot be Setting error (1)Check the following settings.
used for coordinated motion ·Do not use the Corner-R motion for master manipulators at coordinated
(with master manipulators). motion.
6 The Corner-R motion cannot be Setting error (1)Check the following settings.
used for MOVC, MOVS, and ·Use a MOVL instruction when using the Corner-R motion.
EIMOVC instructions.
8 Different tool numbers are set in a Setting error (1)Check the following settings.
Corner-R zone (for the Corner-R ·Use the same tool number in a Corner-R zone.
middle step and end step).
17 The Corner-R motion is disabled Setting error (1)Check the following settings.
during conveyor tracking. ·Do not perform the conveyor tracking when using the Corner-R motion.
18 Arithmetic error occurred when Setting error (1)Check the following settings.
calculating the acceleration and ·Do not perform the conveyor tracking when using the Corner-R motion.
deceleration time for the Corner-R
operation
20 The Corner-R motion is disabled Setting error (1)Check the following settings.
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to start during continuous motion. ·Make the setting for the Corner-R radius small.
·set Timer or PL=0 to a previous line.
4540 JOB QUE EMPTY Setting error (1)Check the following settings.
ERROR ·Use "CALL QUE" under the condition that the job data is set to the job queue.
4541 INVALID INPUT STRING 1 There was no character string Setting error (1)Check the following settings.
(VAL) representing a constant in ·Check the settings for the data of the character string to be extracted.
character string to be extracted at
VAL instruction execution.
4542 MRESET ERROR 1 An MRESET instruction was Setting error (1)Check the following settings.
executed while no endless axis ·Set the endless axis.
was designated.
4543 STACK LESS THAN 0 At job return, an attempt was Software operation error (1)Reset the alarm, and then try again.
(JOB CALL) made to fetch a data from an occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
empty job call stack or to stack a then contact your YASKAWA representative about occurrence status (operating
data in the job call stack that is procedure).
full.
4544 MID$ INST ERROR 1 The first character of character Setting error (1)Check the following settings.
string to be extracted is null at ·Check the settings for the data of the character string to be extracted.
MID$ instruction execution.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 The extraction start position Setting error (1)Check the following settings.
exceeds the character string ·Check the settings for the data of the character string to be extracted.
length at MID$ instruction
execution.
4546 CANNOT EXCUTE Sub Code: System number Software operation error (1)Reset the alarm, and then try again.
SYSTEM JOB occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4547 PRIMITIVE ERROR Sub Code: Error code Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4548 CANNOT OPERATE Sub Code: System number Software operation error (1)Reset the alarm, and then try again.
SPECIFIED EVENT occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4549 NOT EXECUTION OF Sub Code: System number Setting error (1)Check the following settings.
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6 The shared motion function is not Software operation error (1)Reset the alarm, and then try again.
used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
159645-1CD
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
7 The layer motion function is not Software operation error (1)Reset the alarm, and then try again.
used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
8 The general sensor function is not Software operation error (1)Reset the alarm, and then try again.
used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9 The servo float function is not Software operation error (1)Reset the alarm, and then try again.
used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
10 The laser cutting function (with Software operation error (1)Reset the alarm, and then try again.
small circle cutter) is not used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
11 The motor gun function (for spot Software operation error (1)Reset the alarm, and then try again.
9-183
welding application) is not used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
12 The speed control function Software operation error (1)Reset the alarm, and then try again.
(VCON/VCOF) is not used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
14 The laser cutting function (for Software operation error (1)Reset the alarm, and then try again.
form cutting operation) is not occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
used. then contact your YASKAWA representative about occurrence status (operating
procedure).
15 The series communication Software operation error (1)Reset the alarm, and then try again.
function between the systems occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(PSEND/PRECV) is not used. then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
procedure).
16 The motion extension function is Software operation error (1)Reset the alarm, and then try again.
not used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
17 The bending function is not used. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
18 The ME-NET function is not used. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
19 The MEMO-PLAY function is not Software operation error (1)Reset the alarm, and then try again.
used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
20 The 3D-SHIFT function is not Software operation error (1)Reset the alarm, and then try again.
used. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
255 An attempt was made to execute Software operation error (1)Reset the alarm, and then try again.
9-184
an undefined instruction. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4566 USER FRAME MAKING 1 The teaching points are incorrect. Software operation error (1)Reset the alarm, and then try again.
ERROR occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
2 The teaching points for user- Setting error (1)Check the following settings.
coordinate turning are incorrect. ·Among three taught points in the teaching position. Teach the three points
again so that they do not lie in the straight line.
3 The robot axis is not specified for Software operation error (1)Reset the alarm, and then try again.
the control group of the job to occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
prepare the user coordinates. then contact your YASKAWA representative about occurrence status (operating
procedure).
5 Position data error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
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Number Code
6 Setting error of the slave group for Software operation error (1)Reset the alarm, and then try again.
user coordinate conversion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4567 CANNOT MONITOR Setting error (1)Check the following settings.
DISTANCE ·Change the interpolation instruction to MOVL/MOVC.
·Change the setting so that the arc retry or restart operation does not perform.
4568 UNDEFINED PRESS Sub Code: Press characteristic Setting error (1)Check the following settings.
COND DATA FILE file number ·Set the status of press characteristic file to be used in the job to "Used State".
4569 UNDEFINED PRESS Sub Code: Press characteristic Setting error (1)Check the following settings.
RESOLUTION DATA file number ·Set the press resolution data to be used in the job.
4571 SERVO FLOAT MODE Software operation error (1)Reset the alarm, and then try again.
RELEASE ERROR occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4579 ANTICIPATION 1 No availability in anticipation Setting error (1)Check the following settings.
CONTROL ERROR control ·Maximum simultaneous execution number of anticipation control is five.
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4591 SPEED CTRL MODE Software operation error (1)Reset the alarm, and then try again.
SET ERROR occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
(SERVO) then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
4592 SPEED CTRL MODE Software operation error (1)Reset the alarm, and then try again.
CANCEL ERROR(SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4595 CAN'T DO FIXED FORM 1 The setting for radius is incorrect. Setting error (1)Check the following settings.
CUT MOTION (1) For a circle, it is incorrectly set ·Setting of the radius data
as: radius <= 0, or radius <
minimum radius value, or radius >
maximum radius value.
(2) For an ellipse, it is incorrectly
set as: radius <= 0 or radius <
minimum radius value/2, or radius
> (maximum radius/2 - width/2)
value.
2 The setting for width is incorrect. Setting error (1)Check the following settings.
(1) For a rectangle, it is incorrectly ·Setting of the width data
set as: width < 1.0, width > sqrt
(maximum diameter2 - height2),
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Number Code
5 The setting for overlap is Setting error (1)Check the following settings.
incorrect. ·Setting of the overlap data
(1) For a rectangle, it is incorrectly
set as overlap > width/2.
(2) For a circle, it is incorrectly set
as overlap > ABS (2π * radius).
(3) For an ellipse, it is incorrectly
set as overlap > π * radius +ABS
(width/2).
6 The setting for the cutting speed Setting error (1)Check the following settings.
is incorrect. It is set as the cutting ·Setting of the cutting speed
speed > maximum linear speed.
instruction.
4596 FORMCUT ERROR 1 An attempt was made to re- Execute condition failure (1)Check the following settings.
execute the FORMCUT ·Re-execute the move instruction executed before the FORMCUT instruction,
instruction after interrupting it. and then execute the FORMCUT instruction again.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4597 OFFLINE POSITION 1 Incorrect information of reference Software operation error (1)Reset the alarm, and then try again.
DATA CONVERT ERROR position data for offline position occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
data conversion then contact your YASKAWA representative about occurrence status (operating
procedure).
3 Incorrect reference-point data for Software operation error (1)Reset the alarm, and then try again.
offline position data conversion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 The standard position data for Setting error (1)Check the following settings.
offline position data conversion ·The variable position may be out of the robot motion range. Check if the
could not correctly be calculated. variable position is within the robot motion range.
5 Incorrect pulse incremental value Software operation error (1)Reset the alarm, and then try again.
for offline position data conversion occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
6 The position data could not Software operation error (1)Reset the alarm, and then try again.
correctly be added by the pulse occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
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incremental value at the offline then contact your YASKAWA representative about occurrence status (operating
position data conversion. procedure).
7 Incorrect Cartesian incremental Software operation error (1)Reset the alarm, and then try again.
value for offline position data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
conversion then contact your YASKAWA representative about occurrence status (operating
procedure).
8 The position data could not Setting error (1)Check the following settings.
correctly be added by the ·The variable position may be out of the robot motion range. Check if the
Cartesian incremental value at the variable position is within the robot motion range.
offline position data conversion.
9 The position conversion could not Software operation error (1)Reset the alarm, and then try again.
be done in the designated occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
coordinate system at the offline then contact your YASKAWA representative about occurrence status (operating
position data conversion. procedure).
10 Incorrect incremental value of Software operation error (1)Reset the alarm, and then try again.
angle for offline position data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
RE-CHO-A111
conversion then contact your YASKAWA representative about occurrence status (operating
procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
11 The position data could not Software operation error (1)Reset the alarm, and then try again.
correctly be added by the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
incremental value of angle at the then contact your YASKAWA representative about occurrence status (operating
offline position data conversion. procedure).
14 The reverse shift value could not Software operation error (1)Reset the alarm, and then try again.
correctly be calculated at the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
offline position data conversion. then contact your YASKAWA representative about occurrence status (operating
procedure).
15 The reverse shift value could not Software operation error (1)Reset the alarm, and then try again.
correctly be calculated at the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
offline position data conversion. then contact your YASKAWA representative about occurrence status (operating
procedure).
17 The shift value could not correctly Software operation error (1)Reset the alarm, and then try again.
be added at the offline position occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
data conversion. then contact your YASKAWA representative about occurrence status (operating
procedure).
19 The positions for the mirror shift Software operation error (1)Reset the alarm, and then try again.
9-189
function could not correctly be occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
calculated at the offline position then contact your YASKAWA representative about occurrence status (operating
data conversion. procedure).
20 The positions could not correctly Setting error (1)Check the following settings.
be converted for the mirror shift ·The variable position may be out of the robot motion range. Check if the
function at the offline position data variable position is within the robot motion range.
conversion.
22 Incorrect designation of Software operation error (1)Reset the alarm, and then try again.
coordinates for a new mirror-shift occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
conversion function at the offline then contact your YASKAWA representative about occurrence status (operating
position data conversion procedure).
4599 SERVO COMMAND An attempt was made to issue the Software operation error (1)Reset the alarm, and then try again.
ERROR command while the servo control occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
processing has not completed. then contact your YASKAWA representative about occurrence status (operating
RE-CHO-A111
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FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4605 SETTOOL ERROR 1 The difference between the Setting error (1)Check the following settings.
current tool constant and a new ·Correct the job so that the setting value of tag is allowable value.
set value exceeded the allowable ·Set the allowance amount of the tool data automatic setting function maximum
range (parameter set value). deviation (S3C1192) to large value.
4606 LACK OF GLOBAL Software operation error (1)Reset the alarm, and then try again.
VARIABLE AREA occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4607 WRONG EXECUTION 1 The execution macro job is not Setting error (1)Check the following settings.
OF MACRO INST set. ·Check the settings for execution macro job.
2 The interrupt macro job is not set. Setting error (1)Check the following settings.
·Check the settings for interrupt macro job.
3 An attempt was made to start the Setting error (1)Check the following settings.
job that could not be started by ·Check the settings for macro job.
the macro instruction.
5 An error occurred in the operation Software operation error (1)Reset the alarm, and then try again.
9-190
process of job call stack when the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
execution of macro instruction then contact your YASKAWA representative about occurrence status (operating
was cancelled. procedure).
6 Incorrect macro number Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4608 WRONG EXECUTION 1 The job argument is not set. Setting error (1)Check the following settings.
OF GETARG INST ·Check the settings for jobs.
2 No number of the specified job Setting error (1)Check the following settings.
argument ·Check the settings for jobs.
3 The data types of job argument Setting error (1)Check the following settings.
disagreed. ·Check the settings for jobs.
4611 OVER OPTON INST Setting error (1)Check the following settings.
EXECUTION LIMIT ·Check the settings for the OPTON instruction. OPTON instruction can use only
the function to five simultaneously.
RE-CHO-A111
4612 TSYNC ERROR Sub code: the number of Setting error (1)Check the following settings.
synchronizations of the first ·Check the settings for the number of synchronizations of the TSYNC
159645-1CD
executed TSYNC instruction.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4615 I/O AXIS OPERATING An attempt was made to Setting error (1)Check the following settings.
command a job whose control ·Does not the I/O axis motion executed for the control group that executing the
group was in I/O axis motion. job?
·Does not the job executed for the control group that operating by the I/O axis
motion?
The control group where the I/O axis is operating
4619 UNDEFINED JOB Sub Code:Designated registration Setting error (1)Check the following settings.
ENTRY TABLE number ·Check the settings for the job registration table.
4620 ARM (TOOL) Sub Code: Interfering control Setting error (1)Check the following settings.
INTERFERENCE group and axis & interfered ·Modify the teaching so that the robots indicated by the sub code would not
control group and axis. interfere each other.
·Confirm the tool mode (tool interference file) of the robots indicated by the sub
code would not interfere each other.
·Confirm the calibration between the robots is set correctly.
4622 SELF-INTERFERENCE Sub Code:Control group & Setting error (1)Check the following settings.
interfering axis number & ·Modify the teaching so that the robots indicated by the sub code would not
interfered axis number. interfere each other
·Confirm the tool mode (tool interference file) of the robots indicated by the sub
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OF GETPOS INST the step that used a local position ·Check the settings for the GETPOS instruction.
type variable. (The step with local
position type variable cannot be
fetched. Example: MOVJ LP000
VJ=25.00)
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 An attempt was made to obtain Setting error (1)Check the following settings.
the step that used a local position ·Check the settings for the GETPOS instruction.
type variable. (The step with local
position type variable cannot be
fetched. Example: MOVJ LP000
VJ=25.00)
3 The specified step did not exist. Setting error (1)Check the following settings.
·Check the settings for the GETPOS instruction.
4628 WRITE VARIABLE NO. Sub Code: Duplicated variable Setting error (1)Check the following settings.
MULTI SETTING number ·Check the settings for the written destination variable numbers.
4629 GROUP CHANGE 1 The group change parameter was Setting error (1)Check the following settings.
ERROR invalid. ·Validate the group change parameter.
2 The GRPCHG instruction was Setting error (1)Check the following settings.
executed while the external axis ·Execute the GRPCHG instruction when the external axis motor was servo
motor was servo ON. OFF.
3 The GRPCHG instruction was Setting error (1)Check the following settings.
executed in unchuck status. ·Execute the GRPCHG instruction in chuck status.
9-192
4 The group identification signal Setting error (1)Check the following settings.
was not received. ·Check the settings for group identification signal.
5 The specified control group Setting error (1)Check the following settings.
number and the group ·Check the settings for the specified control group number.
identification number were
unmatched.
6 The encoder PG power supply Setting error (1)Check the following settings.
was OFF when the GRPCHG was ·Turn ON the encoder PG power supply when GRPCHG is ON.
ON.
7 The encoder PG power supply Setting error (1)Check the following settings.
was ON when the GRPCHG was ·Turn OFF the encoder PG power supply when GRPCHG is OFF.
OFF.
8 The control group that Setting error (1)Check the following settings.
corresponded to the received ·Check the settings for group identification signal.
group identification signal did not
exist.
4632 UNDEFINED LNR Sub Code: Linear scale Setting error (1)Check the following settings.
SCALE FILE characteristic file number ·Complete the settings for the linear scale condition file.
RE-CHO-A111
4635 CANNOT EXECUTE Sub Code: The related control- Setting error (1)Check the following settings.
COMMON JOB group ·Check the settings for control group specified by the CALL instruction.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4637 TRACK CHG WORK IN/ Sub Code: Conveyor Setting error (1)Check the following settings.
NOT NOT FOUND characteristic file number ·Check the workpiece presence/absence and data settings for the
synchronization section.
4638 TRACKING CHG WORK Sub Code: Conveyor Setting error (1)Check the following settings.
ID NOT FOUND characteristic file number ·Check the workpiece presence/absence and data settings for the
synchronization section.
4639 SYMOVJ INST 2 The conveyor moving amount is Setting error (1)Check the following settings.
EXECUTE ERROR not specified for the SYMOVJ ·Set the conveyor moving amount for the SYMOVJ motion.
motion.
3 An error occurred in the Software operation error (1)Reset the alarm, and then try again.
preparation process of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
manipulator motion start position then contact your YASKAWA representative about occurrence status (operating
for the SYMOVJ motion. procedure).
4 An error occurred in the Software operation error (1)Reset the alarm, and then try again.
preparation process of the occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
manipulator motion end position then contact your YASKAWA representative about occurrence status (operating
for the SYMOVJ motion. procedure).
4640 WRONG EXECUTION 1 No axis data of control group to be Setting error (1)Check the following settings.
OF PSTART INST disconnected ·Check the settings for PSTART instruction.
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4641 CANNOT EXECUTE JOB Sub Code: The disconnected Setting error (1)Check the following settings.
(SEPARATE GRP) control group used by a move ·Correct the teaching so that the control group disconnected by itself is not to
instruction operate for move instruction of own system.
4649 PARTIAL OPERATION Sub Code: Interference control Setting error (1)Check the following settings.
AREA INTERFERENCE group number & interference axis ·Check the teaching position setting of manipulators.
& interference area number.
RE-CHO-A111
4650 TRQ CLEAR ERROR Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4651 PALLETIZING EXECUTE 1 The setting of the pelletizing Setting error (1)Check the following settings.
ERROR condition configuration file is ·Set the pelletizing condition setting file to “Completed”.
incomplete.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4 Pelletize completion universal Setting error (1)Check the following settings.
output number range exceeds the ·Change the pelletize completion universal output signal number of the
limit. pelletizing condition setting file in the user output signal point of contact number.
5 During the pelletize start Setting error (1)Check the following settings.
instruction execution, the pelletize ·Delete the pelletize start instruction in the pelletize section.
start instruction is executed again
(double execution).
6 The value of the pelletizing Setting error (1)Check the following settings.
number present value output ·Check if the pelletizing number of current position output register (or I variable)
register (or I variable) is more and total number of output register (or I variable) is not changed by another
than the total number output function.
register (or I variable).
4652 TRQ MEASURE MODE Software operation error (1)Reset the alarm, and then try again.
9-194
SET ERROR(SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4653 TRQ MEASURE MODE Software operation error (1)Reset the alarm, and then try again.
CANCEL ERROR(SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4654 WRONG EXECUTION 1 An attempt was made to change Setting error (1)Check the following settings.
OF SETREG INST the value of the register currently ·The SETREGM instruction cannot change the register values used in TMR/
used by TMR/CNT. CNT. Correct the setting of tag that specifies register number of SETREG
instruction.
4655 WRONG EXECUTION 1 An attempt was made to acquire Software operation error (1)Reset the alarm, and then try again.
OF GETREG INST the value of the register not occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
existing. then contact your YASKAWA representative about occurrence status (operating
procedure).
4656 WRONG EXECUTION 1 An attempt was made to change a Setting error (1)Check the following settings.
OF SETPRM INST parameter other than the cube- ·The SETPRM instruction cannot change the parameter values other than the
RE-CHO-A111
related parameter. parameter related to the cube. Correct the setting of tag that specifies
parameter number of SETPRM instruction.
2 The SETPRM instruction was Setting error (1)Check the following settings.
159645-1CD
executed while another system ·The SETPRM instruction cannot execute while another system is operating.
was in execution. Correct the job.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4670 INSUFFICIENT NUM OF Sub Code: Signifies the axis in Setting error Lengthen the measurement section.
SAMPLE DATA which the alarm occurred
4671 SAMPLE BUFFER OVER Sub Code: Signifies the axis in Setting error Shorten the measurement section.
FLOW which the alarm occurred
4672 BASIC SPEED Sub Code: Signifies the axis in Setting error Increase the speed specification value of a measurement job or set a small
UNREACHED which the alarm occurred value for BASICV.
Or set a small value for BASICT, or lengthen the measurement section.
4673 MAX TRQ Sub Code: Signifies the axis in Setting error Set a large value for the BASICT, and then check again.
UNDETECTED which the alarm occurred
4676 BROKEN FAN FUSE Sub Code: Signifies the YSU unit Connection failure (1)Reset the alarm.
number in which the alarm (2)If the alarm occurs again, check if there is a ground fault or short circuit in the
occurred fan power line.
Fuse failure (After cancellation of the short-circuit and ground fault) Replace the fuse.
4677 IMPOSSIBLE LINEAR Sub Code: Control group and axis Setting error (1)Check the following settings.
MOTION ·If the sub code display is L- and U-axes, perform the teaching again to make
the form (arm folded direction) of L- and U-axes same at start point and end
point.
·If the sub code display is S- and L-axes, perform the teaching again to make
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the form (arm folded direction) of S- and L-axes same at start point and end
point.
·Change the teaching move instruction to MOVJ instruction. *Be carefull to the
interefernces with peripheral environment, because the robot changes its
motion.
4681 OVER SPEED Sub Code: Control group and axis Setting error (1)Check the following settings.
(MainCPU) ·Reduce the speed of the step where the alarm occurred.
·Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.
4682 MOTION RANGE LIMIT Sub Code: Manipulator number Setting error (1)Check the following settings.
INTERFERENCE ·Modify the teaching position or widen the operation area so that the robot
would not interfere with the operation area.
·Confirm the setting of the robot tool mode (tool interference file) which the
control group is indicated.
4683 AXIS MOTION RANGE Sub Code: Control group and axis Setting error (1)Check the following settings.
RE-CHO-A111
LIMIT OVER(MIN./MAX.) ·Modify the teaching position or widen the operation area so that the robot
would not interfere with the operation area.
·Confirm the setting of the operation area which the control group is indicated
by the sub code.
4684 INTERPOLATION Sub Code: Control group Setting error (1)Check the following settings.
INVALID ·At the cartesian jog operation, switch to each-axes jog operations, and then
change the orientation of manipulator.
·Change the teaching position and orientation.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4696 TURN TABLE 1 There was the same point in three Setting error (1)Check the following settings.
CALIBRATION ERROR points where the calibration had ·Correct the calibration position so that each point is different.
been executed.
2 The three points where the Setting error (1)Check the following settings.
calibration had been executed lie ·Check the calibration position so that the three taught points are not aligned in
in a straight line. a straight line.
3 The three points where the Setting error (1)Check the following settings.
calibration had been executed lie ·Check the calibration position so that the three taught points are not aligned in
in a straight line. a straight line.
4697 OFFLINE ARM BEND 1 Incorrect information of standard Software operation error (1)Reset the alarm, and then try again.
POS CONVERT ERROR position data for offline arm bend occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
position data conversion then contact your YASKAWA representative about occurrence status (operating
procedure).
3 Incorrect reference-point data Software operation error (1)Reset the alarm, and then try again.
offline arm bend position data occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
conversion then contact your YASKAWA representative about occurrence status (operating
procedure).
4 The position data could not be Setting error (1)Check the following settings.
converted correctly/conversely for ·The variable position may be out of the robot motion range. Check if the
the standard position data at the variable position is within the robot motion range.
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5 Incorrect pulse incremental value Setting error (1)Check the following settings.
for offline arm bend position data ·The variable position may be out of the robot motion range. Check if the
conversion variable position is within the robot motion range.
6 The position data could not be Setting error (1)Check the following settings.
converted correctly for the pulse ·The variable position may be out of the robot motion range. Check if the
incremental value at the offline variable position is within the robot motion range.
arm bend position data
conversion.
9 The position conversion could not Setting error (1)Check the following settings.
be done in the conversion data for ·The variable position may be out of the robot motion range. Check if the
offline arm bend position data variable position is within the robot motion range.
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conversion.
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
10 Incorrect incremental value of Setting error (1)Check the following settings.
angle for offline arm bend position ·The variable position may be out of the robot motion range. Check if the
data conversion variable position is within the robot motion range.
11 The position data could not be Setting error (1)Check the following settings.
converted correctly for the ·The variable position may be out of the robot motion range. Check if the
incremental value of angle at the variable position is within the robot motion range.
offline arm bend position data
conversion.
14 The reverse shift value creation at Setting error (1)Check the following settings.
the offline position data ·The variable position may be out of the robot motion range. Check if the
conversion failure variable position is within the robot motion range.
15 The reverse shift value adding Setting error (1)Check the following settings.
failure at the offline position data ·The variable position may be out of the robot motion range. Check if the
conversion variable position is within the robot motion range.
17 The shift value adding failure at Setting error (1)Check the following settings.
the offline position data ·The variable position may be out of the robot motion range. Check if the
conversion variable position is within the robot motion range.
19 Mirror shift correctly/conversely Setting error (1)Check the following settings.
conversion for the offline position ·The variable position may be out of the robot motion range. Check if the
9-197
data conversion error variable position is within the robot motion range.
20 Mirror shift position conversion for Setting error (1)Check the following settings.
the offline position data ·The variable position may be out of the robot motion range. Check if the
conversion error variable position is within the robot motion range.
22 Coordinate specification error in Setting error (1)Check the following settings.
the new mirror shift conversion for ·The variable position may be out of the robot motion range. Check if the
the offline position data variable position is within the robot motion range.
conversion
4698 SHIFT VALUE MAKING 1 Reference position and target Software operation error (1)Reset the alarm, and then try again.
ERROR position occupation control-group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
error then contact your YASKAWA representative about occurrence status (operating
procedure).
2 Reference position and target Software operation error (1)Reset the alarm, and then try again.
position enabling control-group occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
error then contact your YASKAWA representative about occurrence status (operating
procedure).
RE-CHO-A111
3 The position data type is not Software operation error (1)Reset the alarm, and then try again.
applicable. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4 Coordinated control-group error Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
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Number Code
5 User coordinates number on the Software operation error (1)Reset the alarm, and then try again.
specified tag side error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4715 CIP MESSAGE 1 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
SERVER FUNC CIP server task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
ERROR mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2 Failed in the ID take of the CIP Software operation error (1)Reset the alarm, and then try again.
server task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
class entry table. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4 Library initialize error. Software operation error (1)Reset the alarm, and then try again.
9-198
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
5 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
access process. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
10 Detect undefined error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
20 Detect sever function started Software operation error (1)Reset the alarm, and then try again.
processing. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
RE-CHO-A111
30 Detect request error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
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mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
31 Detect memory error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
32 Detect mail send error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
33 Detect CIP answer error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
40 Detect CIP server task mail Software operation error (1)Reset the alarm, and then try again.
receive error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
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41 Detect CIP server task Software operation error (1)Reset the alarm, and then try again.
request data error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
50 Detect CIP server task send Software operation error (1)Reset the alarm, and then try again.
error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4716 BINARY ETHERNET 1 IP address duplicated. IP address setting error (1)Reset the alarm, and then try again.
SERVER FUNC ERR (2)The IP address is duplicated with the FS100 controller. Confirm the
IP address of the communication target.
(3)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
RE-CHO-A111
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FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
RC connect management occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
task. mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
RC server task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
file server task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1040 Failed in the request take of Software operation error (1)Reset the alarm, and then try again.
the RC connect management occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
task. mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
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1041 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1042 Received data area overflow. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1043 Failed in the request error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1044 Failed in the request error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
RE-CHO-A111
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1059 In a RC connect management Software operation error (1)Reset the alarm, and then try again.
task,undefine error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1060 Failed in the ID take of the RC Software operation error (1)Reset the alarm, and then try again.
server task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1061 Failed in the mail take of the Software operation error (1)Reset the alarm, and then try again.
RC server task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1062 In a RC server task, request Software operation error (1)Reset the alarm, and then try again.
mail data error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-201
1063 Answer data area overflow. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1064 In a RC server task, receive Software operation error (1)Reset the alarm, and then try again.
data area overflow. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1079 In a RC server task, undefined Software operation error (1)Reset the alarm, and then try again.
error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
RE-CHO-A111
1080 In a file server task, mail Software operation error (1)Reset the alarm, and then try again.
receive error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
303 of 348
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
1081 In a file server task, request Software operation error (1)Reset the alarm, and then try again.
mail data error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1082 IP address duplicated. IP address setting error (1)Reset the alarm, and then try again.
(2)The IP address is duplicated with the FS100 controller. Confirm the
IP address of the communication target.
(3)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
In a file server task, request Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1083 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
9-202
error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
159645-1CD
occurrence status (operating procedure).
304 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2066 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2085 Detect file server task send Software operation error (1)Reset the alarm, and then try again.
error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2086 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2087 In a file server task, answer Software operation error (1)Reset the alarm, and then try again.
data error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-203
2088 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2089 In a file server task, answer Software operation error (1)Reset the alarm, and then try again.
data area overflow. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2098 Failed in the status error Software operation error (1)Reset the alarm, and then try again.
occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
RE-CHO-A111
2099 In a file server task, undefined Software operation error (1)Reset the alarm, and then try again.
error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
305 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3090 In a file sever task, file close Software operation error (1)Reset the alarm, and then try again.
error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4718 I/O MODULE 24V Sub Code: I/O Board slot(BIT) Fuse failure I/O board (LIO08R/09R) detected 24V power failure. Check the
POWER ERROR For example slot3 case: following items.
(0000_0100), slot4 (1) Check the fuse on the front panel of FS100, and replace it if it was
case:(0000_1000). If multiple cut.
I/O boards detecting the error, (2) Check the CN3 connecter and the cable of the I/O board.
multiple bits are set. (Standard (3) If the error occurs again, replace the LIO08R/09R board.
shipping of FS100, An I/O
board is in slot3.)
4719 BINARY ETHERNET 1 Detect message library Software operation error (1)Reset the alarm, and then try again.
CLIENT FUNC ERR initialize error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-204
2 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
file function task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3 Failed in the generation of the Software operation error (1)Reset the alarm, and then try again.
RC function task. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4 Detect I/F data error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
10 Detect undefined error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
RE-CHO-A111
159645-1CD
306 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
110 In a file task, undefined error Software operation error (1)Reset the alarm, and then try again.
detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
510 In a RC task, undefined error Software operation error (1)Reset the alarm, and then try again.
detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
511 In a RC task, request Software operation error (1)Reset the alarm, and then try again.
command error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
512 In RC task, there is not the Software operation error (1)Reset the alarm, and then try again.
class entry of the request occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
command. mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-205
513 In RC task, there is not the Software operation error (1)Reset the alarm, and then try again.
service entry of the request occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
command. mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1130 In a high speed Ethernet task, Software operation error (1)Reset the alarm, and then try again.
request mail error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
1131 In a high speed Ethernet task, Software operation error (1)Reset the alarm, and then try again.
request command error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
detected. mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
RE-CHO-A111
1132 In a file task, mail receive Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
307 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
2140 In a file task, file reading error Software operation error (1)Reset the alarm, and then try again.
occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
2141 In a file task, file writing error Software operation error (1)Reset the alarm, and then try again.
occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3150 In a file task, request send Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3151 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-206
3160 In a file task, reply packet Software operation error (1)Reset the alarm, and then try again.
clear error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3161 Failed in the take of the reply Software operation error (1)Reset the alarm, and then try again.
packet data error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3162 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3163 In a file task, time out Software operation error (1)Reset the alarm, and then try again.
occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
RE-CHO-A111
159645-1CD
308 of 348
FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
3164 In a file task, receive data Software operation error (1)Reset the alarm, and then try again.
area overflow occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3165 In a file task, received data Software operation error (1)Reset the alarm, and then try again.
unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3166 In a file task, receive data size Software operation error (1)Reset the alarm, and then try again.
overflow occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3167 In a file task, received data Software operation error (1)Reset the alarm, and then try again.
size set to zero occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-207
3168 In a file task, reply head error Software operation error (1)Reset the alarm, and then try again.
occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
3169 In a file task, reply status Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
5530 In a RC task, interface request Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
RE-CHO-A111
5531 In a RC task, interface answer Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
309 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
5532 In a RC task, interface data Software operation error (1)Reset the alarm, and then try again.
area overflow occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
5533 In a RC task, interface data Software operation error (1)Reset the alarm, and then try again.
writing error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
6540 In a RC task, time out Software operation error (1)Reset the alarm, and then try again.
occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
6541 Detect data error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-208
6542 Detect exclusive process Software operation error (1)Reset the alarm, and then try again.
error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
6543 Detect time out. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
6544 Setting error Setting error (1)Reset the alarm, and confirm whether the following parameter is set
to zero.
・S2C541
・S2C542
Detect data error. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
RE-CHO-A111
159645-1CD
310 of 348
FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
6545 Detect exclusive process Software operation error (1)Reset the alarm, and then try again.
error. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7550 In a RC task, request send Software operation error (1)Reset the alarm, and then try again.
error occurred. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7551 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7560 In a RC task, reply packet Software operation error (1)Reset the alarm, and then try again.
error detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-209
7561 In a RC task, reply take error Software operation error (1)Reset the alarm, and then try again.
detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7562 Failed in the endian Software operation error (1)Reset the alarm, and then try again.
conversion. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7563 Detect time out. Software operation error (1)Reset the alarm, and then try again.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
RE-CHO-A111
7564 In a RC task, receive data Software operation error (1)Reset the alarm, and then try again.
area overflow detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
311 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
7565 In a RC task, received data Software operation error (1)Reset the alarm, and then try again.
unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7566 In a RC task, received data Software operation error (1)Reset the alarm, and then try again.
size over. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7567 In a RC task, receive data size Software operation error (1)Reset the alarm, and then try again.
zero detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
7568 In a RC task, reply head error Software operation error (1)Reset the alarm, and then try again.
detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
9-210
7569 In a RC task, reply status error Software operation error (1)Reset the alarm, and then try again.
detected. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about
occurrence status (operating procedure).
4730 MOTION RANGE LIMIT Sub Code: Control group Setting error (1)Check the following settings.
OVER ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
4731 DEST MOTION RANGE Sub Code: Control group Setting error (1)Check the following settings.
LIMIT OVER ·Check the position setting for the step (move instruction) where the alarm
occurred.
159645-1CD
procedure).
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FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4823 HARD WIRE BASE Connection failure (1)Reset the alarm
ENABLE ERROR (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Reset the alarm.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4825 BASE ENABLE ERROR Connection failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Software operation error (1)Reset the alarm.
occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
9-211
(2)Still the alarm occurs again after confirming the connection or insertion
status, execute the following operation.
·Replacement of the programming pendant
Machine safety board failure (1)Reset the alarm.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
313 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4831 PANEL E-STOP SIGNAL Machine safety board failure (1)Reset the alarm.
ERROR (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4832 EXT E-STOP SIGNAL Connection failure (1)Reset the alarm.
ERROR (2)If the alarm occurs again, execute the following operation.
·Replacement of the connection cable
·There are two point of contact enable switch, and only one might be turned ON
by how to squeeze. Moreover, only one might be turned ON when putting it on
the place where it is not a plane on the knee etc.
159645-1CD
parts.
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FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Hardware failure (1)Reset the alarm.
(2)If the alarm occurs again, execute the following operation.
·Replacement of the switch used for protection stop signal or the corresponding
parts.
Machine safety board failure (1)Reset the alarm.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4836 OVERRUN SIGNAL Sub Code: Control group Enable signal unmatched (1)Reset the alarm.
ERROR (OT1) error (2)If the alarm occurs again, confirm the followings.
·Select "OVERRUN & S-SENSOR"from "ROBOT" menu to display OVERRUN
& S-SENSOR window. The alarm can be released on this window.
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, execute the following operation.
·Replacement of the connection cable
Hardware failure (1)Reset the alarm.
(2)If the alarm occurs after the replacement of the machine safety module,
execute the following operation.
·Replacement of the limit switch or corresponding parts.
9-213
315 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Connection failure (1)Reset the alarm.
(2)If the alarm occurs again, confirm the following.
·Replacement of the connection cable
Hardware failure (1)Reset the alarm.
(2)If the alarm occurs after the replacement of the machine safety board,
execute the following operation.
·Replacement of the limit switch or corresponding parts.
Machine safety board failure (1)Reset the alarm.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4839 MODE SIGNAL CUT Dummy connector not Insert the dummy connector.
inserted
Connection failure (1)Reset the alarm.
(2)If the alarm occurs after above mentioned operation, execute the following
operation.
·Confirm the looseness of the connectors connecting the programming pendant
and the cable.
9-214
procedure).
4901 CUBE/AXIS Sub Code; Group, axis, and Setting error (1)Check the following settings.
159645-1CD
INTERFERENCE interference area number ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is out of interference area.
·Change the settings for interference area.
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FS100
159645-1CD
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4902 CUBE INTERFERENCE Sub Code: Control group & Area Setting error (1)Check the following settings.
(CONTROL POINT number ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is out of interference area.
MONITOR) ·Change the settings for interference area.
4903 CUBE INTERFERENCE Sub Code: Control group & Setting error (1)Check the following settings.
(WHOLE MONITOR) Interference axis & Area number ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is out of interference area.
·Change the settings for interference area.
4904 CUBE INTERFERENCE 0 Maximum number of the cube Setting error (1)Reset the alarm.
AREA SETTING ERROR interference area exceeds the (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
allowable range. then contact your YASKAWA representative about occurrence status (operating
procedure).
1 The number of cube interference Setting error Reduce the number of cube interference area whose monitoring part is "whole"
area whose monitoring part is .
"whole" exceeds the limit.
2 Detect the cube whose Setting error (1)Among the cube interference areas already values are entered, modify as
interference area are extremely follows.
big or small. 1.Change the extremely big values to smaller ones.
2.Change the extremely small values to bigger ones.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
9-215
317 of 348
FS100
Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4943 AVERAGING TIME Software operation error (1)Reset the alarm.
ERROR (SERVO) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4944 POSITION LOOP GAIN Software operation error (1)Reset the alarm.
ERROR (SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4945 MOTION COMMAND Software operation error (1)Reset the alarm.
DATA ERROR (SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4946 PG POWER ON Software operation error (1)Reset the alarm.
INCOMPLETE (SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4947 SERVO ON MULTIPLE Software operation error (1)Reset the alarm.
9-216
REQUEST (SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4948 ENCODER ALARM Software operation error (1)Reset the alarm.
(SERVO) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4953 ENCODER COUNTER Sub Code: Signifies the axis in Connection failure (1)Reset the alarm
DIFF. ERROR(SV) which the alarm occurred (2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
{Robot axis}
·Cable between encoders
{External axis}
·Cable between encoders
Servo control board failure (1)Reset the alarm.
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
RE-CHO-A111
159645-1CD
then contact your YASKAWA representative about occurrence status (operating
procedure).
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FS100
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
4956 AVERAGING SUM Software operation error (1)Reset the alarm.
ERROR (SERVO) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4957 AVERAGING STATUS Software operation error (1)Reset the alarm.
ERROR (SERVO) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4958 HIGH RESOLUTION Software operation error (1)Reset the alarm.
PRM UNDEFINED(SV) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4960 BELT SNAP DETECT Sub Code: Signifies the axis in Setting error (1)Reset the alarm.
PRM ERROR (SV) which the alarm occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4961 SERIAL ENC OSCILL Sub Code: Signifies the axis in Software operation error (1)Reset the alarm.
9-217
DETECTED (SV) which the alarm occurred occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4962 BRAKE LOCK ERROR Sub Code: Signifies the axis in Software operation error (1)Reset the alarm.
(SERVO) which the alarm occurred occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4963 BRAKE RELEASE Sub Code: Signifies the axis in Software operation error (1)Reset the alarm.
ERROR (SERVO) which the alarm occurred occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
4964 CONST.SPD MEASURE Sub Code: Signifies the axis in Software operation error (1)Reset the alarm.
MULTI REQ (SV) which the alarm occurred occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
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procedure).
4965 DIN SIGNAL SPECIFIC. Setting error Confirm the DIN signal settings.
ERROR (SV)
4972 CONVTR REGENERATE Primary power supply failure Correct the converter primary power supply.
OVERLOAD(SV)
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Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
Setting error Check the following settings.
·The tool information
·JOB
·Work
·The speed of JOB
·The acceleration/deceleration speed of ACC and DEC
Connection failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (Regenerative (1)Reset the alarm
resistor) (2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Module failure (converter) (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Servo control board failure (1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
4973 POSITION ERROR Setting error Confirm the settings of the followings.
(COLLISION DETECT) ·The tool information
9-218
·Work
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FS100 10 Error
10.1 Error Message
10 Error
When two or more errors occur, appears in the message display area.
Activate the message display area and press [SELECT] to view the list of
current errors.
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10.1 Error Message
10 - Turn OFF servo power and perform It cannot be operated while servo power supply
corrective action is ON.
50 - Depress MODIFY
60 - Undefined points (ORG, XX, XY) Not registered user coordinates basic 3 points
(ORG, XX, XY)
70 - Program and current tool different The tool number registered with teaching
position data does not match the tool number
selected at the programing pendant.
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FS100 10 Error
10.1 Error Message
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FS100 10 Error
10.1 Error Message
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FS100 10 Error
10.1 Error Message
10.1.2 Editing
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10.1 Error Message
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FS100 10 Error
10.1 Error Message
1 Sub-master 1
2 Sub-master 2
3 Sub-master 3
4 Sub-master 4
5 Sub-master 5
2292 - Undefined MASTER START JOB
2293 * Undefined SUB START JOB
1 Sub-master 1
2 Sub-master 2
3 Sub-master 3
4 Sub-master 4
5 Sub-master 5
2300 - Cannot teach JOB without group-axis
specification
2310 * Same label exists
XXX Line no.
2320 - Cannot create coordinated JOB
2330 - Cannot edit coordinated instruction
2350 - Pasted data not found
2340 - Editing data not found
2360 - Cannot create editing area
2370 - Cannot cut/copy NOP and END
instructions
2380 - Wrong JOB selection
2390 - Wrong group axis selection
2400 - Cannot move in cut & paste editing
2410 - When variable is used for speed
setting, perform a line-edit
2420 - When variable is used for teach
setting, perform a line-edit
2430 - Reverse data not found
2450 - Relative JOB not permitted
2460 - Specified JOB is already converted
2470 - Wrong JOB type
2480 - Wrong JOB coordinates setting
2490 - Execute FWD/BWD operation once
2500 - Cannot convert the JOB
2501 - Cannot convert positions as macro
arguments
2510 - Cannot correct position in the JOB
2520 - Enter JOB name
2530 - Illegal step number
2540 - Enter step number
2550 - Duplicated step number
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FS100 10 Error
10.1 Error Message
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10.1 Error Message
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10.1 Error Message
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10.1 Error Message
3220 7 No instruction
8 Invalid instruction
9 Invalid tag
10 Invalid character
11 Undefined intermediate code
12 Intermediate code shortage
13 Syntax stack overflow
14 Syntax stack underflow
15 Array type tag uncompleted Tag [ARRAY]
16 Element type tag uncompleted Tag [ELEMENT]
17 Macro JOB unregistered
18 Input format error
19 Data size over
20 MIN value over
21 MAX value over
22 Operation expression error
23 Job call argument setting error
24 Macro job call argument setting error
25 Position vector setting error
26 System error
27 Soft key designate error
28 Numerical input buffer overflow
29 Real type data precision error
30 Element format error
35 BOOL TYPE data error
36 CHAR data error
37 BYTETYPE, BINARY / HEXADECIMAL BYTE
TYPE data error
38 INTEGER TYPE, DECIMAL WORD TYPE data
error
39 BINARY/HEXADECIMAL WORD TYPE data
error
40 DOUBLE PRECISION INTEGER TYPE,
DECIMAL DWORD TYPE data error
41 BINARY/HEXADECIMAL WORD TYPE data
error
42 REAL TYPE data error
43 LADDER SPECIAL TYPE data error
44 JCL text
45 Invalid text
46 LABEL NAME data error
47 JOB NAME data error
48 STRING data error
49 COMMENT data error
58 Invalid instruction/tag detection
3230 - Syntax not matched
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FS100 10 Error
10.1 Error Message
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10.1 Error Message
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10.1 Error Message
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10.1 Error Message
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10.2 Particular Error Message
10.2.1 Message
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10.2 Particular Error Message
Message Meaning
syntax error There is an unauthorized part in
internal processing discription.
expression too complex(stack overflow) Internal stack has overflowed.
function nesting depth exceeded Nesting of internal processing is
unauthorized.
bad radix The cardinal number used is
unauthorized.
divide by 0 Memory is running out.
out of memory Memoriy is insufficient.
argument list does not match a function The internal processing of the
pendant program is unauthorized.
register is not available Specified an unavailable system
data.
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FS100 10 Error
10.2 Particular Error Message
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FS100 11 LED Indicator on Each Circuit Board
WARNING
• To perform this operation, it is required to open the door of the
control box while power is ON.
• A heavy current (AC200V) flows inside the control box. Do not touch
the internal unit.
Failure to observe this warning may result in electric shock.
• Close the door as soon as the maintenance work such as LED
check is completed.
Failure to observe this warning may result in electric shock.
WARNING
• Close the door as soon as the maintenance work is completed.
Failure to observe this warning may result in electric shock.
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6 LED-Spot Indicator
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FS100 11 LED Indicator on Each Circuit Board
11.2 7-Segment LED Indicator on the Main CPU Circuit Board (CPU201R)
During the start-up process Count up from ‘0’ toward ‘d’ or ‘P’
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FS100 11 LED Indicator on Each Circuit Board
11.2 7-Segment LED Indicator on the Main CPU Circuit Board (CPU201R)
11.2.2 Status of 7-Segment LED Indicator at Control Power Start-up (one digit)
Error Status
1 The system program has started.
2 Starts verifying the existence of other circuit boards.
(Verifies the start-up of the booting program.)
3 Starts the system program transmission.
4 Sends the request of the system program start-up.
5 Starts verifying the existence of other circuit boards.
(Verifies the start-up of the system program.)
6 Acquires hardware information, etc. of other circuit boards.
(Verifies the IO board status, SERVO IF, and so on.)
7 Starts the CMOS data transmission.
8 Sends the pre-online request.
9 Waits for MIII communication synchronization.
A
b Sends the start-up request of on-line system.
C The on-line system has started. (Starts up the initialization task.)
d Processes of the system setup completion. (Servo ON enabled)
E Alarm occurs at the system setup.
F The maintenance mode is starting up.
P The system setup PP/SWP unconnected.
Alarm No.
Turn the power supply OFF and ON again when the above mentiond
numbered error is indicated by the 7-Segment.
Replacement of the controller is requied if the the error occurs again.
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FS100 11 LED Indicator on Each Circuit Board
11.3 7 SEG-LED Indicator on Machine Safety Board (SF2300)
ALM
PWR PBESP
CN1
HWBB1
PPESP
DSW
HWBB2 CN2
SAFF
ONEN
EXESP
ESPOUT
CN3 DSWOUT
HWBB1
EDM1
HWBB2
CN4 EDM2
OT1
OT2
CN5
+24V
CN6
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Fatal alarm occurrence The error cause and the address where
the error has occurred are indicated.
11.4.1 LED Indicator at Alarm Occurrence in the Main CPU and SERVO Control
Board Communication System
Small-sized RC Status
SERVO CPU Board
LED Status
MIII send incompletion
Blink RDY ERR
CN CMERR ON
LNK1 LNK2
Receive WDG inconsistency
Blink RDY ERR
Blink CN CMERR ON
LNK1 LNK2
MIII status error
Blink RDY ERR
CN CMERR ON
Blink LNK1 LNK2
Power lost detected by way of JL077
RDY ERR
Blink CN CMERR ON
Blink LNK1 LNK2
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11.4 7 SEG-LED Indicator on SERVO Control Board (IFM)
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MAINTENANCE MANUAL
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10