trouble shootingmrc

MOTOMAN ROBOTICS ABa subsidiary of YASKAWA Electric Corporation

Trouble Shooting Guide, YASNAC MRC

YASNAC MRC ver. 3.144B

Trouble Shooting YASNAC MRC

Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM

Page: 1

MOTOMANROBOTICSAB

Alarm 0010 CPU Board Insertion Error

Alarm Occurrence

Alarmre-occurs? YESNO

ContactMOTOMAN-service

Replace all boards

Turn power OFF,and then ON again.

Resume use Remove the SV board correspondingto the display, and then re-install it

Alarmre-occurs? NO

Resume use

YES

Alarmre-occurs?NO

Resume use Replace the ROM of the boardcorresponding to the display

YES

Alarmre-occurs?NO

ROM failure

YES

Replace the boardcorresponding to the display

Alarmre-occurs?

Board failure

NOYES


Board failure

Remove the MCP01board, and then re-install it



Page: 2

MOTOMANROBOTICS

AB

Alarm 0020 CPU Communication Error

Alarm Occurrence



Replace all boards



Alarmre-occurs? NO

Resume useRemove all boards,and then re-install them

YES

Alarmre-occurs?NO

Resume use Replace the ROM of the boardcorresponding to the display

YES

Alarmre-occurs?NO

ROM failure

YES


Alarmre-occurs?

Board failure

NOYES


Board failure



Page: 3

MOTOMANROBOTICSAB

Alarm 0030 ROM Error

Alarm Occurrence




Resume use

Alarmre-occurs?NO

ROM failure

YES

Alarmre-occurs? NO

Replace the ROM of the boardcorresponding to the display

YES


Board failure



Page: 4

MOTOMANROBOTICS

AB

Alarm 0040 RAM Error (local)

Alarm Occurrence




Resume use Remove the board correspondingto the display, and then re-install it

Alarmre-occurs?NO

Resume use

YES

Alarmre-occurs? NOYES


Board failure



Page: 5

MOTOMANROBOTICSAB

Alarm 0050 RTC Error)

Alarm Occurrence




Resume use Remove the board correspondingto the display, and then re-install it

Alarmre-occurs?NO

Resume use

YES



Board failure



Page: 6

MOTOMANROBOTICS

AB

Alarm 0060 RAM Error (A-bus Common)

Alarm Occurrence



Replace all boards


Resume use

Alarmre-occurs? NO

Resume useRemove all boardsand re-install again

YES

Alarmre-occurs?NO

Resume use

YES



Alarmre-occurs?

Board failure

NO YES

Board failure

Remove the board correspondingto the display, and then re-install it



Page: 7

MOTOMANROBOTICSAB

Alarm 0070 RAM Error (D-Bus 2-Port)

Alarm Occurrence



Replace all boards



Alarmre-occurs? NO

Resume useRemove all boardsand re-install again

YES

Alarmre-occurs?NO

Resume use Replace the SV boardcorresponding to the display

YES

Alarmre-occurs?NO

SV board failure

YES

Replace the MCP02 board

Alarmre-occurs?

Board failure

NOYES


Board failure



Page: 8

MOTOMANROBOTICS

AB

Alarm 0080 RAM Error (S-Bus 2-Port)

Alarm Occurrence




Resume use

Alarmre-occurs? NO

Resume useRemove MCP01and re-install again

YES

Alarmre-occurs?NO

Resume use Replace the boardcorresponding to the display

YES

Alarmre-occurs? NO

Board failure

YES

Replace the MCP01 board

Alarmre-occurs?

MCP01 board failure

NO YES

Remove the board correspondingto the display, and then re-install it



Page: 9

MOTOMANROBOTICSAB

Alarm 0090 I/O Module Communication Error

Alarm Occurrence



Replace MIF01 board


Resume use Confirm the settingof the I/O module

Alarmre-occurs? NO

Resume useCheck the wiring of the cablebetween MIF01 and MBB02

YES

Alarmre-occurs?NO

Resume use Remove the I/O module correspondingto the display, and then re-install it

YES


Replace the I/O module

Alarmre-occurs?NO YES

Alarmre-occurs?YES NO

MIF01 board failure

Resume use

I/O modulefailure



Page: 10

MOTOMANROBOTICS

AB

Alarm 0100 IAMP Communication Error

Confirm the settingof the servopack

Alarm Occurrence




Resume use Remove the cable connectorbetween the MSV board and IAMP

Alarmre-occurs? NO

Resume useCheck the wiring of the cablebetween MSV board and IAMP

YES

Alarmre-occurs?NO

Resume use

YES

Alarmre-occurs? NO

Servopack failure

YES

Replace the MSV board

Alarmre-occurs?

MSV board failure

NO YES

Resume useReplace the servopack




Page: 11

MOTOMANROBOTICSAB

Alarm 0110 IAMP Parameter Modification Error

Alarm Occurrence




Resume use Remove the cable connector betweenthe MSV board and IAMP and re-install

Alarmre-occurs? NO

Resume useCheck the wiring of the cablebetween MSV board and IAMP

YES

Alarmre-occurs?NO

Resume use

YES

Alarmre-occurs?NO

Servopack failure

YES

Replace the MSV board

Alarmre-occurs?

MSV Board

NOYES

Replace the servopack

failure



Page: 12

MOTOMANROBOTICS

AB

Alarm 0120 Encoder communication error

Alarm Occurrence




Resume use Remove the cable connector betweenthe MSV board and IAMP and re-install

Alarmre-occurs?

NO

Resume use

Check the wiring of the cablebetween MSV board and IAMP

YESAlarm

re-occurs?

NO

Cable failureReplace the

servopack

YES

Alarmre-occurs?

NO

Servopack

YES

Replace theAlarmre-occurs?

NO

YES

between encoder and IAMP, YES

Resume useRemove the cable connector

and then install to another axis between encoder and IAMP,

Alarmre-occurs?

Alarmre-occurs?

Check the cable groundbetween encoder and IAMP

NO

Cable failure NO

failure YES

MSV board

Alarmre-occurs?

YES

NO

Alarmre-occurs? Resume useNOYESReplace the

motor

Alarmre-occurs? YES

Motor failure

NORemove the cable connector

and then re-install it

BSV Boardfailure

Reset the absoluteencoder




Page: 13

MOTOMANROBOTICSAB

Alarm 0130 Encoder Overspeed

Alarm Occurrence




Resume use After the motor stops,control power ON.

Alarmre-occurs? NO

Resume use

YES

Alarmre-occurs?NO

Resume use

YES

Replaceservo motor


Reset theabsolute encoder

Motor failure



Page: 14

MOTOMANROBOTICS

AB

Alarm 0131 Encoder Data Error

Alarm 0132 Encoder Back-up Error

Alarm Occurrence




Resume use Reset the

Alarmre-occurs?NO

Resume use

YES


absolute encoder

Replace the motor

Motor failure

Alarm Occurrence




Alarmre-occurs?NO

Resume use

YES


absolute encoder

Replace the motor

Motor failure

Change the battery, reset the alarmand then set home position



Page: 15

MOTOMANROBOTICSAB

Alarm 0133 Encoder Checksum Error

Alarm Occurrence



Change the battery, reset the alarmand then set home position.


Alarmre-occurs?NO

Resume use

YES

Replaceservo motor


absolute encoder

Motor failure



Page: 16

MOTOMANROBOTICS

AB

Alarm 0134 Encoder Battery Error

Alarm 0135 Encoder Overheat

Alarm Occurrence



Change the battery

Resume use Check

Alarmre-occurs? NO

Resume use

YES


Motor failure

Internal wiring

Alarmre-occurs?

Reset theabsolute encoder

NO YES

Resume use Replace the motor

Alarm Occurrence



After cooling, turn thepower ON again

Resume use

Internal wire


failure

CheckInternal wiring



Page: 17

MOTOMANROBOTICSAB

Alarm 0200 Fault (Parameter)

Alarm 0210 Fault (System Config-Data)

Alarm 0220 Fault (Job Management Data)

Alarm Occurrence



Resume use Contact MOTOMAN-service before

initializing the parameter file

Alarm Occurrence

Contact MOTOMAN-service before

initializing the parameter file

Alarm Occurrence



Turn power OFF,and then ON agian.

Resume use


Job file destroyed

Initialize the job file



Page: 18

MOTOMANROBOTICS

AB

Alarm 0230 Fault (CIO Ladder)

Alarm 0300 Verify Error (System Config-Data)

Alarm 0310 Verify Error (CMOS Memory Size)

Alarm Occurrence



Initialize the CIO Ladder

CIO Ladderdestroyed

Alarm Occurrence

Contact MOTOMAN-service before

initializing the system config.

Alarm Occurrence

Confirm the extension CMOS board


The extension CMOS Contact MOTOMAN-service before

initializing the system config.board is not mounted



Page: 19

MOTOMANROBOTICSAB

Alarm 0320 Verify Error (I/O module)

Alarm 0330 Illegal Parameter

Alarm Occurrence



Remove the I/O-module that correspondsto the display, then re-install the module

Resume use Confirm the setting

Alarmre-occurs? NO

Resume use

YES

Replace the I/O modulecorresponding to the display


I/O module failure

of the I/O module

Alarm Occurrence



Reset originalparameter value

Resume use



Page: 20

MOTOMANROBOTICS

AB

Alarm 0340 Verify Error (Servopack Type)

Alarm 0350 Verify Error (Encoder Type)

Alarm 0360 Verify Error (Application)

Alarm 0370 Verify Error (Sensor Function)

Alarm Occurrence


Set the parameter to match themounted servopack type



Alarm Occurrence


Set the parameter to match themounted encoder type



Alarm Occurrence

Contact MOTOMAN-servicebefore initializing the system config.

Alarm Occurrence

Contact MOTOMAN-servicebefore initializing the system config.



Page: 21

MOTOMANROBOTICSAB

Alarm 0400 Parameter Transmission Error

Alarm 0410 Mode Change Error

Alarm Occurrence




Resume use Replace the board

Alarmre-occurs?NO

Board failure

YES

Replaceall boards


corresponding to the display

Board failure

Alarm Occurrence



Resume use ContactMOTOMAN-service



Page: 22

MOTOMANROBOTICS

AB

Alarm 0900 - 0920 Watch Dog Timer Error

AL-0900 MCP02 AL-0906 MCP01 AL-0914 MSV#5

AL-0901 AL-0907 MIF01 AL-0915 MSV#6

AL-0902 MSL#1 AL-0910 MSV#1 AL-0916 MSV#7

AL-0903 MSL#2 AL-0911 MSV#2 AL-0917

AL-0904 AL-0912 MSV#3 AL-0920 MIF02

AL-0905 AL-0913 MSV#3

Alarm Occurrence

Alarmre-occurs?

NO



Resume useRemove the board corresponding to

the display, then re-install it

Alarmre-occurs?

NO

Resume use

Remove all boards,then re-install them YES

Alarmre-occurs?

NO

Resume use

Replace allboards

YES

Alarmre-occurs?

NO

EPROM failure

YES

Alarmre-occurs?

Board failure

NO

YES

Replace the EPROM of the boardcorresponding to the display

Replace boardcorresponding to the display

Alarmre-occurs?

YES

Board failure

NO

YES



Page: 23

MOTOMANROBOTICSAB

Alarm 0930 - 0937 Access Error

AL-0930 MIF02 AL-0933 MSL#2 AL-0936 MCP01

AL-0931 AL-0934 AL-0937 MIF01

AL-0932 MSL#1 AL-0935

Alarm Occurrence

Alarmre-occurs?

NO





Alarmre-occurs?

NO

Resume use


Alarmre-occurs?

NO

Resume use

Replace allboards

YES

Alarmre-occurs?

NO

EPROM failure

YES

Alarmre-occurs?

Board failure

NO

YES



Alarmre-occurs?

YES

Board failure

NO

YES



Page: 24

MOTOMANROBOTICS

AB

Alarm 0940 - 0947 A-Bus Error

AL-0940 MIF02 AL-0943 MSL#2 AL-0946 MCP01

AL-0941 AL-0944 AL-0947 MIF01

AL-0942 MSL#1 AL-0945

Alarm Occurrence

Alarmre-occurs?

NO





Alarmre-occurs?

NO

Resume use


Alarmre-occurs?

NO

Resume use

Replace allboards

YES

Alarmre-occurs?

NO

EPROM failure

YES

Alarmre-occurs?

Board failure

NO

YES



Alarmre-occurs?

YES

Board failure

NO

YES



Page: 25

MOTOMANROBOTICSAB

Alarm 0999 NMI Error

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use Remove all boards

Alarmre-occurs?

NOYES

Replace EPROMof all boards

Alarmre-occurs?

NO

YES

and then re-install them

EPROM failure Replaceall boards

Alarmre-occurs?

NO

Board failure

Resume use



Page: 26

MOTOMANROBOTICS

AB

Alarm 1010 ROM Error (Syscon)

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use Remove the EPROM board on the

Alarmre-occurs?

NOYES

Replace EPROM boardon the MCP01 board

Alarmre-occurs?

NO

YES

MCP01 board and then re-install them

MMM02 failure Replace MCP01board

Alarmre-occurs?

NO

Board failure

Make sure connector hasno loose connections,and then resume use



Page: 27

MOTOMANROBOTICSAB

Alarm 1020 ROM Error (Motion)

Alarm Occurrence

Alarmre-occurs?

YESNO




Alarmre-occurs?

NOYES


Alarmre-occurs?

NO

YES

MCP02 board and then re-install them

MMM04 failure Replace MCP02board

Alarmre-occurs?

NO

Board failure




Page: 28

MOTOMANROBOTICS

AB

Alarm 1030 ROM Error (CIO)

Alarm Occurrence

Alarmre-occurs?

YESNO




Alarmre-occurs?

NOYES


Alarmre-occurs?

NO

YES

MIF01 board and then re-install them

EPROM failure Replace MIF01board

Alarmre-occurs?

NO

Board failure




Page: 29

MOTOMANROBOTICSAB

Alarm 1040 System Error (Syscon)

1 6 Multi Task Specification Error

2 Motion Interrupt Not Done 7 Lack of Command Saving Area

3 Syscon Error 8 EMS Error

4 Command Processing 9

5 Undefined Interrupt 10 SL Interrupt Not Done

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Replace MCP01board

Board failure



Page: 30

MOTOMANROBOTICS

AB

Alarm 1050 ROM Error (Sensor)

Alarm Occurrence

Alarmre-occurs?

YESNO




Alarmre-occurs?

NOYES

Replace EPROM boardon the MSL board

Alarmre-occurs?

NO

YES

MSL board and then re-install it

EPROM failure Replace MSL boardcorresponding to the display

Alarmre-occurs?

NO

Board failure


YES



Page: 31

MOTOMANROBOTICSAB

Alarm 1060 System Error (CIO)

01 05 Command Error SYSCONCIO

02 06 System Error

04 FA Communication Bus Error

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Replace MIF01board

Board failure



Page: 32

MOTOMANROBOTICS

AB

Alarm 1070 Fault (Parameter)

0 RC parameters 8 AP parameters

1 RO parameters 9 RS parameters

2 SV paramerters 10 SP parameters

3 SVM parameters 11 CM parameters

4 SC parameters 12 SE parameters

5 SD parameters 13 VC parameters

6 CIO parameters 14 RSM parameters

7 FD parameters

Alarm Occurrence

Alarmre-occurs?

YESNO


Resume use

Alarmre-occurs?

NOYES

Board failureContact MOTOMAN-service before


Initializethe parameter file



Page: 33

MOTOMANROBOTICSAB

Alarm 1080 Fault (Job data)

Alarm 1090 File Failure (Motion)

Alarm Occurrence

Alarmre-occurs?

YESNO


Resume use

Alarmre-occurs?

NOYES

Job file destroyedContact MOTOMAN-service before


Initializethe job file

Alarm Occurrence

Alarmre-occurs?

YESNO






Page: 34

MOTOMANROBOTICS

AB

Alarm 1100 File Total Checksum Error (Motion)

Alarm 1110 Set-up Process Error (Syscon)

1 Motion Section Set-up incomplete

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Replace MCP02board

Board failure

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Replace MCP02board

Board failure



Page: 35

MOTOMANROBOTICSAB

Alarm 1120 Wrong Segment Clock Value

Alarm 1130 MMM Error

0 3 Process Not Set

1 Process Definition Table Not Set 4 Process Control Code Not Set

2 Entry Table Overflow

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Reset phase offsetdata file

CMOS file breakdown

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use



Page: 36

MOTOMANROBOTICS

AB

Alarm 1140 MMM Error

Alarm 1150 Fault

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use



Page: 37

MOTOMANROBOTICSAB

Alarm 1160 High Temperature (in Control Box)

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use Turn the power off, let the controllercool inside, and then turn power on again

Alarmre-occurs?

NO

Resume useCheck movement of cooling fan

YES

Alarmre-occurs?

NO

Check wiring cooling fan

YES

Faulty?

NO YES

Replace power unit Alarmre-occurs?

Power unit failure

NO

YES

Replace fan

(CPS-18F)

Alarmre-occurs?


YES

Fan failure

NO



Page: 38

MOTOMANROBOTICS

AB

Alarm 1170 Overrun Limit Switch Released

Alarm Occurrence

Alarmre-occurs?

YESNO


Resume use

Alarmre-occurs?

NOYES

Switch failure

Check the OVERRUN RECOVERY

switch




Page: 39

MOTOMANROBOTICSAB

Alarm 1180 - 1186 Servo Monitor System Error

AL-1180 MSV#1 AL-1183 MSV#4 AL-1186 MSV#7

AL-1181 MSV#2 AL-1184 MSV#5

AL-1182 MSV#3 AL-1185 MSV#6

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Replace MCP01 board

Alarmre-occurs?

NO

YES

Alarmre-occurs?

NO

Board failure

Replace MSV boardcorresponding to the display

Board failure

Board failureReplace MCP02 board

YES



Page: 40

MOTOMANROBOTICS

AB

Alarm 1190 - 1196 Servo System Error


AL-1191 MSV#2 AL-1194 MSV#5

AL-1192 MSV#3 AL-1195 MSV#6

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Replace MCP01 board

Alarmre-occurs?

NO

YES

Alarmre-occurs?

NO

Board failure

Replace MSV boardcorresponding to the display

Board failure

Board failureReplace MCP02 board

YES



Page: 41

MOTOMANROBOTICSAB

Alarm 1200 - 1206 Overcurrent

Alarm Occurrence

Conditionat the time

YES

NO


Faultygrounding

NO

YES

Alarmre-occurs?

NO

YES

Alarmre-occurs?

NOServopack

Check first

YES

of alarm?

Replace servopackcorresponding to the display Running

At servopower ON

At controlpower ON

Go topoint

A

failure

grounding terminal

Check secondground terminal

B

Faultygrounding

Replace servopackcorresponding

Servopack failure


Checkinternal wiring

Alarmre-occurs?

YES


Replace motorcorrespondingto the display

to the display

NO

Internal wiringfailure

Alarmre-occurs?

YES

Servomotor failure

NO



Page: 42

MOTOMANROBOTICS

AB

Alarm 1200 - 1206 Overcurrent (...continued)


AL-1201 MSV#2 AL-1204 MSV#5

AL-1202 MSV#3 AL-1205 MSV#6

NO


Loadcondition?

NO

Overload

Alarmre-occurs?

YES

Alarmre-occurs?

OK

Decrease

Check firstYES

Replacecooling fan

Go topoint

B

weight

grounding terminal

Faultygrounding


Servopack failure

Checkrobot load

YES ContactMOTOMAN-service

to the display

YES

NO

A

Check movement ofservopack cooling fan

Abnormal?

Alarmoccurs at a

specific point?

YES

FanfailureNO

NO



Page: 43

MOTOMANROBOTICSAB

Alarm 1210 - 1216 MCCB Tripped

Alarm Occurrence


YES

NO

ContactMOTOMAN

Faultygrounding

NOYES

Alarmre-occurs?

NO

YES

Alarmre-occurs?

NOServopack

Check first

YES

of alarm?

Replace servopackcorresponding to the display

Running

At servopower ON

At controlpower ON

Go topoint

A

failure

grounding terminal


B

Faultygrounding



Replaceinternal wiring

Alarmre-occurs?

YES



to the display

NO


Alarmre-occurs?

YESNO

Turn ON theMCCB

service

NO

Resume useYES

Alarmre-occurs?

Servopack failure

Motor failure



Page: 44

MOTOMANROBOTICS

AB

Alarm 1210 - 1216 MCCB Tripped (...continued)


AL-1211 MSV#2 AL-1214 MSV#5

AL-1212 MSV#3 AL-1215 MSV#6

NO

Loadcondition?

Overload

Alarmre-occurs?

OK

Check firstYES

Go topoint

B

grounding terminal

Faultygrounding


Servopack failure

Checkrobot load

YES ContactMOTOMAN-service

to the display

YES

NO

A

Alarmoccurs at a

specific point?

NO

Decreaseweight



Page: 45

MOTOMANROBOTICSAB

Alarm 1220 - 1226 Ground Fault

Alarm Occurrence


YES

NO


Faultygrounding

NO

YES

Alarmre-occurs?

NO

YES

Alarmre-occurs?

NOServopack

Check first

YES

of alarm?

Replace servopackcorresponding to the display Running

At servopower ON

At controlpower ON

Go topoint

A

failure

grounding terminal


Faultygrounding


Servopack failure



Alarmre-occurs?

YES



to the display

NO


Alarmre-occurs?

YESServo motor

failure

NO



Page: 46

MOTOMANROBOTICS

AB

Alarm 1220 - 1226 Ground Fault (...continued)


AL-1221 MSV#2 AL-1224 MSV#5

AL-1222 MSV#3 AL-1225 MSV#6

NO


NO

Alarmre-occurs?

YES

Alarmre-occurs?

Check first

YES

grounding terminal

Faultygrounding


Servopack failure

YES


to the display

YES NO

A

Alarmoccurs at a

specific point?

YES

Motorfailure

NO

NO


Faultygrounding



Alarmre-occurs?


YESNO

Replace motorcorresponding to the display



Page: 47

MOTOMANROBOTICSAB

Alarm 1230 - 1236 Defective Current Offset


AL-1231 MSV#2 AL-1234 MSV#5

AL-1232 MSV#3 AL-1235 MSV#6

Alarmre-occurs?

YES

Servopack failure


NO

Alarm Occurrence

Replace servopackcorresponding to the display



Page: 48

MOTOMANROBOTICS

AB

Alarm 1240- 1246 Encoder Transmission Error


AL-1241 MSV#2 AL-1244 MSV#5

AL-1242 MSV#3 AL-1245 MSV#6

Alarm Occurrence

Alarmre-occurs?

NO



Resume use

Remove the cable between MSVboard and IAMP, then re-install it

Alarmre-occurs?

NO

Resume use

YES

Alarmre-occurs?NOResume use

Reset absoluteencoder

YES

Alarmre-occurs?

NO

YES

Alarmre-occurs?

Motor failure

NO

YES

Remove the cable between the encoder and IAMP, then

Check the cable groundbetween encoder and IAMP

Alarmre-occurs?

YES

Cable failure

NOYES

Remove the cable between encoder and IAMP, then re-install it

install connector from another axis

Replace the servopack

Check the cablebetween encoder and IAMP

Alarmre-occurs?

Resume use

NO

Replace theservomotor

Alarmre-occurs?

NOYES

Alarmre-occurs?Servopack failure NO

YES

Replace MSV board

Alarmre-occurs?

YESBoard failure

NO



Page: 49

MOTOMANROBOTICSAB

Alarm 1250 - 1256 Defective Encoder Internal Data


AL-1251 MSV#2 AL-1254 MSV#5

AL-1252 MSV#3 AL-1255 MSV#6

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Alarmre-occurs?

NO

Reset absolute encodercorresponding to the displayed axis

Motor failure

YES

Replace motor correspondingto the displayed axis

Resume use



Page: 50

MOTOMANROBOTICS

AB

Alarm 1260 - 1266 Defective Encoder Absolute Data


AL-1261 MSV#2 AL-1264 MSV#5

AL-1262 MSV#3 AL-1265 MSV#6

Alarm Occurrence

Alarmre-occurs?

YESNO



Resume use

Alarmre-occurs?

NOYES

Alarmre-occurs?

NO

Motor failure

YES

Reset absolute encodercorresponding to the displayed axis

Replace motor correspondingto the displayed axis

Resume use



Page: 51

MOTOMANROBOTICSAB

Alarm 1270 - 1276 Encoder Overheat


AL-1271 MSV#2 AL-1274 MSV#5

AL-1272 MSV#3 AL-1275 MSV#6

Alarm Occurrence


NO


NO

YES

Alarmre-occurs?

YES

Alarmre-occurs?

NO

of alarm?Running

At controlpower ON

Faultywiring?

Replace internal wiring

Check wiring

YES


Alarmre-occurs?

YES

NO

Loadcondition?

Overload

Decrease

Replacecooling fan

weight

CheckRobot load Abnormal?

Fanfailure

NO

Resume use

Alarmre-occurs?

NO

Motor failure

Go topoint

A

YES

A

Reset absolute encodercorresponding to the

displayed axis

Replace motor

If motor has coolingfan check if fan is

working



Page: 52

MOTOMANROBOTICS

AB

Alarm 1280- 1286 Servo Monitor Transmission Error


AL-1281 MSV#2 AL-1284 MSV#5

AL-1282 MSV#3 AL-1285 MSV#6

Alarm Occurrence

Alarmre-occurs?




Alarmre-occurs?

NO

Resume use

NO

YES

Alarmre-occurs?

YES

Cable failure

YES

Replace the

Check the cable wiringbetween MSV board and IAMP

NOAlarm

re-occurs?

NO

YES

Servopack failure

Replace MSV board

Alarmre-occurs?

YES

Board failure

Resume use

Faultywiring

Replace cable servopack

YES

NO

NO



Page: 53

MOTOMANROBOTICSAB

Alarm 1290 -1296 Servo CPU Synchronizing Error

Alarm 1300 -1306 DSP Program Checksum Error


AL-1291 MSV#2 AL-1294 MSV#5

AL-1292 MSV#3 AL-1295 MSV#6


AL-1301 MSV#2 AL-1304 MSV#5

AL-1302 MSV#3 AL-1305 MSV#6

Alarm Occurrence

Alarmre-occurs?

YESNO


Replace MSV board

Board failure

Alarm Occurrence

Alarmre-occurs?

YESNO


Replace MSV board

Board failure



Page: 54

MOTOMANROBOTICS

AB

Alarm 1310 -1316 Mon Pgrm Total Checksum Error


AL-1311 MSV#2 AL-1314 MSV#5

AL-1312 MSV#3 AL-1315 MSV#6

Alarm Occurrence

Alarmre-occurs?

YESNO


Replace MSV board

Board failure



Page: 55

MOTOMANROBOTICSAB

Alarm 1320- 1326 Servopack Failure


AL-1321 MSV#2 AL-1324 MSV#5

AL-1322 MSV#3 AL-1325 MSV#6

Alarm Occurrence

Alarmre-occurs?




Alarmre-occurs?

NO

Resume use

NO

YES

Alarmre-occurs?

YES

Cable failure

YES

Replace the

Check the cable wiringbetween MSV board and IAMP

NOAlarm

re-occurs?

NO

YES

Servopack failure

Replace MSV board

Alarmre-occurs?

YES

Board failure

Resume use

Faultywiring

Replace cable servopack

YES

NO

NO



Page: 56

MOTOMANROBOTICS

AB

Alarm 1330- 1336 Position Error

Alarm Occurrence


NOMoved to

another axis?

Cable failure

YES

Replace the

Alarmre-occurs?

Replace MSV board

Alarmre-occurs?

YES

Board failureFaultywiring

Replace cable

servo motor

YES

NO


NO

Alarmre-occurs?

of alarm?Running

At servopower ON

At controlpower ON

Go topoint

A

Replace the cable betweenencoder and IAMP with acable from another axis

Check wiring

YES

NO

NO

Motor failure

YES



Page: 57

MOTOMANROBOTICSAB

Alarm 1330- 1336 Position Error (... continued)


AL-1331 MSV#2 AL-1334 MSV#5

AL-1332 MSV#3 AL-1335 MSV#6


NO

Cable failure

YES

Replace the

Alarmre-occurs?

Replace MSV board

Alarmre-occurs?

YES

Board failure

Faultywiring

Replace cable

servo motor

YES

NOAlarm

re-occurs?

Check wiring

YES

NO

NO

Motor failure

YES

A

Is there anoise sourcearound?

Remove the noise source

Resume use

Alarmre-occurs? YES

NO



Page: 58

MOTOMANROBOTICS

AB

Alarm 1340- 1346 Overload 1


AL-1341 MSV#2 AL-1344 MSV#5

AL-1342 MSV#3 AL-1345 MSV#6

Alarm Occurrence


Cable failure

YES

Alarmre-occurs?

Replace MSV board

Alarmre-occurs?

YES Board failure

Faultywiring

Replace wiring

YES


NO

Alarmre-occurs?

of alarm?Running

At controlpower ON

Go topoint

A

Check

NO

Teaching error

How longafter Servo ON

does alarmoccur?

Right away After severalminutes

Loadcondition?

Overload

Reduce load

CheckRobot load

Check forinterference

Interference?

Modify teaching

OK

motor wiring

NO

NO

YES

NO

YES



Page: 59

MOTOMANROBOTICSAB

Alarm 1340- 1346 Overload 1 (...continued)


YES

Alarmre-occurs?

Replace MTU board

Alarmre-occurs?

YES

Faultywiring

Replace SVM

YESNO

Alarmre-occurs?

Check brake

NO

Input voltage Abnormalcondition?

Checkbrake circuit

Check ifmechanically locked

Defective?

lead wiring

NO

NO

YES

NOYES

AIs brakerelease

audiable?

abnormal

Input voltagenormal

Replace wiringResume use

Resume use

Checkmotor brake

NO

Resume use

YES

NO

Replace the servo motor

Alarmre-occurs?

NO

Resume use

Fix mechanicalproblem

Movable?


YES YES

Alarmre-occurs?

NO

Resume use

YES

NO



Page: 60

MOTOMANROBOTICS

AB

Alarm 1350- 1356 Overload 2


AL-1351 MSV#2 AL-1354 MSV#5

AL-1352 MSV#3 AL-1355 MSV#6

Alarm Occurrence


Cable failure

YES

Alarmre-occurs?

Replace MSV board

Alarmre-occurs?

YES Board failure

Faultywiring

Replace wiring

YES


NO

Alarmre-occurs?

of alarm?Running

At controlpower ON

Go topoint

A

Check

NO

Teaching error

How longafter Servo ON

does alarmoccur?

Right away After severalminutes

Loadcondition?

Overload

Reduce load

Checkrobot load

Check forinterference

Interference?

Modify teaching

OK

motor wiring

NO

NO

YES

NO

YES



Page: 61

MOTOMANROBOTICSAB

Alarm 1350- 1356 Overload 2 (...continued)


YES

Alarmre-occurs?

Replace MTU board

Alarmre-occurs?

YES

Faultywiring

Replace SVM

YESNO

Alarmre-occurs?

Check brake

NO

Input voltage Abnormalcondition?

Checkbrake circuit

Check ifmechanically locked

Defective?

lead wiring

NO

NO

YES

NOYES

AIs brakerelease

audiable?

abnormal

Output voltageabnormal

Replace wiringResume use

Resume use

Checkmotor brake

NO

Resume use

YES

NO

Replace the servo motor

Alarmre-occurs?

NO

Resume use

Fix mechanicalproblem

Movable?


YES YES

Alarmre-occurs?

NO

Resume use

YES

NO



Page: 62

MOTOMANROBOTICS

AB

Alarm 1360-1366 Broken PG Line

Conditionat the timeof alarm?

1At controlpower on Running

At servopower on

Replace cable between encoder &IAMP with cable from another axis

Faultywiring?

Move toother axis?

Replace MSVboard

Check wiring

YES

NO

Alarmre-occurs?

MSV board failure

Replace cable

NO

YES

Replace servopack

Alarmre-occurs?

Servopack failure

Cable failure

YES

NO

NO

Replace motorAlarm

re-occurs?YES

YES

NO

Alarmre-occurs? NO

Replace cable betweenIAMP and MSV

Alarmre-occurs?

YES

Replace motor

Alarmre-occurs?

Contact MOTOMAN-service

NO


Motor failureYES

NO

Cable failure

Motor failureYES

Alarm Occurrence



Page: 63

MOTOMANROBOTICSAB

Alarm 1360-1366 Broken PG Line (...continued)


AL-1361 MSV#2 AL-1364 MSV#5

AL-1362 MSV#3 AL-1365 MSV#6

1

Check wiring YES

Alarmre-occurs?

MSV board failure

Replace servopack

Cable failure

Alarmre-occurs? YES

YES

NO

NO

YES

Replace motorAlarm

re-occurs?

NO


Motor failure

YES

NO

Servopack failure

Motor failure

YES

Is there a noisesource around?

Remove noisesourceYES

NO

Faultywiring?

Alarmre-occurs?

NO

Replace motor

Alarmre-occurs?

NO

Resume useNO

YES Replace cable

YES NO Cable failure

MSV board failure

Alarmre-occurs?

Replace cable betweenIAMP and MSV

Alarmre-occurs?



Page: 64

MOTOMANROBOTICS

AB

Alarm 1370-1376 Over Speed


AL-1371 MSV#2 AL-1374 MSV#5

AL-1372 MSV#3 AL-1375 MSV#6

Check wiring YES

Alarmre-occurs?

Reduce speed

NO

Alarmre-occurs?

YES

YES

NO

YES

Alarmre-occurs?

Contact MOTOMAN-service Resume use

YES

NO

YES

Is there a noisesource around?NO

Faultywiring?

Alarmre-occurs?

Alarmre-occurs?

NO

YES

Replace cable

YES

NO

Cable failureAlarm occurs

at specific point?

YESRemove noise

source

Resume use

Replace MSV board

Replace motor

1

Condition at thetime of alarm

NO

At servopower on

At servopower on

1

1

Running

Point of alarm

Multiple axes

taught by MOVJ?

moving at thesame time?

1

NO

YESNO

NO MSV board failure

Motor failure

Alarm Occurrence



Page: 65

MOTOMANROBOTICSAB

Alarm 1380-1386 Servo Tracking Error


AL-1381 MSV#2 AL-1384 MSV#5

AL-1382 MSV#3 AL-1385 MSV#6

Decrease weight

YES

YES

NO

YES

Alarmre-occurs?


NO

YES

NO

Faultywiring?

Alarmre-occurs?

Alarmre-occurs?

NOModify teaching

Loadcondition?YES

Replace wiringharness

Check load

Replace MSV board

Interference?

At controlpower on

Running

NO

MSV board failure

Wiring failure

Condition at thetime of alarm?

Check if robot interfereswith work or fixture

Teaching error

Check motorwiring

OK

Overload

1

1

Alarm Occurrence



Page: 66

MOTOMANROBOTICS

AB

Alarm 1380-1386 Servo Tracking Error (...continued)

YES

YES

NO

YES

Alarmre-occurs?

NO

YES

NO

Faultywiring?

Alarmre-occurs?

NO

YES


Replace SVM

Movable?

NO

Is brake release audible?

Check if mechanicallylocked

Check brakelead wiring

1

Check motorbrake

Check brakecircuit

Output voltageabnormal

Input voltageabnormal

Abnormalcondition?

Replace MTU board

Contact MOTOMAN

service

Resume use

Alarmre-occurs?

Resume use

NO

Replace motor

Defective?NO

YES

Alarmre-occurs?

NO

Resume use

YESFix mechanical

problem

Alarmre-occurs?



Resume use

YESYES

NO

NO

Resume use



Page: 67

MOTOMANROBOTICSAB

Alarm 1390-1396 Speed (Monitor)


AL-1391 MSV#2 AL-1394 MSV#5

AL-1392 MSV#3 AL-1395 MSV#6

YES

YES

NO

YES

Alarmre-occurs?

NO

YES

NO

Faultywiring?

Alarmre-occurs?

Alarmre-occurs?

NOYES

Reduce speed

NO

Motor failure

Check wiring

1

1

Is there a noisesource around?

Replace cable

Alarmre-occurs?

Remove noisesource

Resume use

At controlpower on

Condition at thetime of alarm? Running

Replace MSV board

Replace motor

YES

Contact MOTOMAN

service

At servopower on

1NO Cable failure

Alarm occursat specific point?

Point of alarm

Multiple axes

taught by MOVJ

moving at thesame time?

YES

YES

1

NO

YES

YES

Resume use

Alarmre-occurs?NO

NO

NO

failureMSV board

Alarm Occurrence



Page: 68

MOTOMANROBOTICS

AB

Alarm 3000-3006 Not Ready For Servo System


AL-3001 MSV#2 AL-3004 MSV#5

AL-3002 MSV#3 AL-3005 MSV#6

NO

YES

Alarmre-occurs?

NO

Cable failure

Check MTU board

Replace cable

1

NO

YES

YES 1

NO

YES

YES

Resume use

Alarmre-occurs?

NO

NO

Check cable between

Turn the power offand then on again

Alarmre-occurs?Resume use

Is SVMworking?NO

Alarmre-occurs?

Defective? NO

YES

Replace MTU board

Replace SVM

Check primarypower voltageYES

Defective?

Resume use

servopack and MSV board

Defective? 1

YES 1

Primary powerfailure

Alarm Occurrence



Page: 69

MOTOMANROBOTICSAB

Alarm 3000-3006 Not Ready For Servo System (...continued)

YES

Cable failure

Replace cable

1

NO

YES

NO

YESAlarm

re-occurs?

Check cable between

Alarmre-occurs?

NO

Alarmre-occurs?

Defective?

NO

Replace servopack YES

servopack and SVM

Servopack failure

Replace MSV board

MSV boardfailure

Contact MOTOMAN

service



Page: 70

MOTOMANROBOTICS

AB

Alarm 3010-3016 Servo Defective Speed


AL-3011 MSV#2 AL-3014 MSV#5

AL-3012 MSV#3 AL-3015 MSV#6

YES NO

YES

NO

Alarmre-occurs?

NO

Alarmre-occurs?

YES

Replace MSV board

MSV boardfailure

Contact MOTOMAN

service

Are you trying toturn power on while

axis is moving

Try power on whileaxis is stopped

Resume use

Alarm Occurrence



Page: 71

MOTOMANROBOTICSAB

Alarm 3020-3026 Servo Defective DB


AL-3021 MSV#2 AL-3024 MSV#5

AL-3022 MSV#3 AL-3025 MSV#6

YES

NO

YES

NO Alarmre-occurs? NO

Alarmre-occurs?

Replace MSV board

MSV boardfailure

Turn the power offand then on again

Replace servopack

Alarmre-occurs?

YES

Contact MOTOMAN

service

Resume use

Servopack failure

Alarm Occurrence



Page: 72

MOTOMANROBOTICS

AB

Alarm 3030-3036 Regenerative Trouble


AL-3031 MSV#2 AL-3034 MSV#5

AL-3032 MSV#3 AL-3035 MSV#6

YES

NO

YES

NO

NO

Alarmre-occurs?

Replace regenerationresistor

Check regenerationresistor

Replace

Alarmre-occurs?YES

Servopack failure


At controlpower on

At servopower on

Defective?servopack


Regenerationresistor failure

Alarm Occurrence



Page: 73

MOTOMANROBOTICSAB

Alarm 3040-3046 Overvoltage


AL-3041 MSV#2 AL-3044 MSV#5

AL-3042 MSV#3 AL-3045 MSV#6

YES

NO YES

NO

Alarmre-occurs?

Replace regenerationresistor

Check primarypower voltage

Replace

Alarmre-occurs?YES

Servopack failure


At controlpower on

At servopower on

Abnormal?

servopack


Regenerationresistor failure

Check regenerationresistor

Defective?

NO

YES

NO


Alarm Occurrence



Page: 74

MOTOMANROBOTICS

AB

Alarm 3050-3056 Voltage Drop


AL-3051 MSV#2 AL-3054 MSV#5

AL-3052 MSV#3 AL-3055 MSV#6

YESNO

YESAlarm

re-occurs?


Replace

Servopack failure


At controlpower on

At servopower on

Abnormal?servopack


NO


Alarm Occurrence



Page: 75

MOTOMANROBOTICSAB

Alarm 3060-3066 Heat sink overheat


AL-3061 MSV#2 AL-3064 MSV#5

AL-3062 MSV#3 AL-3065 MSV#6

YESNO

YESAlarm

re-occurs?


Replace

Servopack failure


At controlpower on

At servopower on

Abnormal?servopack


NO


Alarm Occurrence



Page: 76

MOTOMANROBOTICS

AB

Alarm 3070-3076 Servo Blown Fuse


AL-3071 MSV#2 AL-3074 MSV#5

AL-3072 MSV#3 AL-3075 MSV#6

YESNO

YESAlarm

re-occurs?

Check motorcable

Replace

Servopack failure


At controlpower on

At servopower on

Abnormal?servopack


NO


Alarm Occurrence

YESAlarm

re-occurs?

NO

Wiring failure



Page: 77

MOTOMANROBOTICSAB

Alarm 3080-3086 Broken Current Ref Cable


AL-3081 MSV#2 AL-3084 MSV#5

AL-3082 MSV#3 AL-3085 MSV#6

YES

NO

YES

Alarmre-occurs?

Replace

Servopack failure

servopack


NO

MSV boardfailure

Alarm Occurrence

YES

Alarmre-occurs?

NO

Replace cable

Check cable betweenservopack and MSV board

Defective?

ReplaceMSV board

Alarmre-occurs?

NO

YES

Cable failure



Page: 78

MOTOMANROBOTICS

AB

Alarm 3090-3096 Open Phase


AL-3091 MSV#2 AL-3094 MSV#5

AL-3092 MSV#3 AL-3095 MSV#6

YESNO

YES

Alarmre-occurs?

Replace

Servopack failure

servopack


NOContactor

failure

Alarm Occurrence

YES

Alarmre-occurs?

NO

Replace cable


Abnormal?

ReplaceMSV board

Alarmre-occurs?

NO

YES

Cable failure

Replacecontactor


Check if contactoris stuck or not

Abnormal?

Check cable forSVM contactor

Abnormal?

NO

YES

NO

YES

Abnormal?

YES

NO

failureMSV board



Page: 79

MOTOMANROBOTICSAB

Alarm 4000 Not Ready

Alarm 4010 Current Position Set Program Error

Alarm 4020 Servo Power On Sequence Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset alarm, and thenexecute the operation again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 80

MOTOMANROBOTICS

AB

Alarm 4030 Servo Power Off Sequence Error

Alarm 4040 Home Calibration Error

Alarm 4050 Absolute Data Change Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 81

MOTOMANROBOTICSAB

Alarm 4060 Segment Data Output Error

Alarm 4070 Axis Parameter Error

Alarm 4080 Table Parameter Error For Actual Axis

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Initialize parametersetting

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Initialize parametersetting



Page: 82

MOTOMANROBOTICS

AB

Alarm 4090 Sequence Task Control Error

Alarm 4100 Data Refresh Error

Alarm 4110 Undefined Command (Arith)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 83

MOTOMANROBOTICSAB

Alarm 4120 System Error (Arith)

Alarm 4130 Arithmetic Error

Alarm 4140 Select Error (Parameter)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 84

MOTOMANROBOTICS

AB

Alarm 4150 Group Axis Control Error

Alarm 4160 Two Steps Same Position (Circle)

Alarm 4170 Two Steps Same Position (Spline)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Confirm the taught program, andthen input three different points

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 85

MOTOMANROBOTICSAB

Alarm 4180 Two Steps Same Position (3 steps)

Alarm 4190 Two Steps Same Position (weave)

Alarm 4200 Teach Error (Spline)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Confirm the taught program,and then provide instructions toposition taught points correctly



Page: 86

MOTOMANROBOTICS

AB

Alarm 4210 Impossible Linear Motion (L/U)

Alarm 4220 Impossible Linear Motion (S/L)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Confirm the taughtprogram so the pattern

of L and U axes is the same

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Confirm the taughtprogram so the pattern

of S and L axes is the same



Page: 87

MOTOMANROBOTICSAB

Alarm 4230 Excessive Segment (Low speed)

Alarm 4240 Excessive Segment (High speed)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Decrease the speed of the stepwhere the alarm occured

Set form of axes S and L,and provide a new instruction


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Decrease the speed of the stepwhere the alarm occured

Set form of axes S and L,and provide a new instruction


Resume use



Page: 88

MOTOMANROBOTICS

AB

Alarm 4250-4300 Soft Limit Over

Alarm 4310-4340 Mechanical Interference

AL-4250 Pulse limit over: minimum AL-4280 Cube limit over: maximum

AL-4260 Pulse limit over: maximum AL-4290 Special soft limit over: minimum

AL-4270 Cube limit over: minimum AL-4300 Special soft limit over: maximum

AL-4310 Mechanical interference: minimum

AL-4330 Special mechanical interference: maximum

AL-4320 Mechanical interference: maximum

AL-4340 Special mechanical interference: minimum

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset alarm using soft-limit-overreset method, and then provide

another instruction

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


another instruction.



Page: 89

MOTOMANROBOTICSAB

Alarm 4350-4360 Pulse Mechanical limit

Alarm 4370 Station Axis Data Input Error

AL-4350 Pulse mechanical limit: minimum AL-4360 Pulse mechanical limit: maximum

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


another instruction.

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 90

MOTOMANROBOTICS

AB

Alarm 4380 Segment Control Error

Alarm 4390 Sub-segment Control Error

Alarm 4400 Wrong Specified Control Group

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 91

MOTOMANROBOTICSAB

Alarm 4410 CPU Communication Error

Alarm 4420 Failed To Select Over SP Level

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Turn the power off,and then on again

Alarmre-occurs? NO

Resume use

YES

Replace MSV board


MSV board failure



Page: 92

MOTOMANROBOTICS

AB

Alarm 4430 Averaging Number Change Error

Alarm 4440 Torque Limit Change Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Alarmre-occurs? NO

Resume use

YES

Replace MSV board


MSV board failure

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Alarmre-occurs? NO

Resume use

YES

Replace MSV board


MSV board failure



Page: 93

MOTOMANROBOTICSAB

Alarm 4450 JMS Error

Alarm 4460 JHM Error

1/255 Parameter 11/245 Sequence number error

2/254 Access time over 12/244 Step numer error

3/253 Access error 13/243

4/252 Job name error 14/242 Code error

5/251 Existing job open 15/241

6/250 Memory over 16/240 Lack of handle

7/249 Not existing 17/239 Write Protected

8/248 Acess not permitted 18/238 Maximum instruction

9/247 Handling number error 19/237 Maximum step

10/246 System error 99/157 Job failure

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 94

MOTOMANROBOTICS

AB

Alarm 4470 Instruction Interpreter Error

Alarm 4480 Undefined Global Variable

Alarm 4490 Var-Scoreboard Control Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset the parameter, and thenexecute the operation again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 95

MOTOMANROBOTICSAB

Alarm 4500 Undefined Local Variable

Alarm 4510 Less Than 3 Steps (circular)

Alarm 4520 Cannot Interpolate Circular Motion

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Set the local variable to the job headeand then execute the operation again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Confirm the taught program, andthen input instructions to provide

more than three steps continuously

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Confirm the taught program, andthen input instructions to provide

more than three steps continuously



Page: 96

MOTOMANROBOTICS

AB

Alarm 4530 Undefined Job

Alarm 4540 Undefined Label

Alarm 4550 Undefined Return Job

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset alarm, end thenexecute the operation again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check the taught point, andthen teach the point again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Start from the original job



Resume use



Page: 97

MOTOMANROBOTICSAB

Alarm 4560 Lack Of Local-Variable Area

Alarm 4570 Local-Variable Control Error

Alarm 4580 Job Call Stack Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Decrease the useof local variables

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 98

MOTOMANROBOTICS

AB

Alarm 4590 Feedback Pulse Making Error

Alarm 4600 Unsuccessful Fine Positioning

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Replace MSV board Resume use


MSV board failure



Page: 99

MOTOMANROBOTICSAB

Alarm 4610 Pending Block-End Error

Alarm 4620 Data Preset Error

Alarm 4630 Variable Data Type Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 100

MOTOMANROBOTICS

AB

Alarm 4640 Over Variable Limit

Alarm 4650 Defective Taught Point (circular)

Alarm 4660 Weaving Control Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Change value of variable type thatexceeds numerical range limits.

(B**) ‘0-255(I**) -32768~32767(D**) -2147483648

~214748(R**) -1.70141E+38

~1.70141E

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check taught point, and then teachthree points not in a straight line

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset alarm, and then checkweave file and REFP points



Page: 101

MOTOMANROBOTICSAB

Alarm 4670-4671 Overrun In Axis

AL-4670 At robot axes occurrence AL-4671 At external axes occurrence

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Recover from overtravelthen try again

Check short switch on MBB02

Abnormal?YES

NO

Set the swith again

Swith setting failure

Check the overrun limit switch

YESAlarm

re-occurs?NO

Defective?YES

NO

Replace switch

Alarmre-occurs?

Check the wiring of theoverrun limit switch

YESNO

Switch failure Alarmre-occurs?


Alarmre-occurs?

NO

Lead failure

NO

YES

Replace MTU board

YES

Alarmre-occurs?

NO

Board failure

YESReplace MBB02

(IOBB) board


MBB02 (IOBB)failure



Page: 102

MOTOMANROBOTICS

AB

Alarm 4680-4730 File Fault

Alarm 4740 Posn File Data Read-Out Error

AL-4680 Tool file AL-4710 Weaving file

AL-4690 User frame file AL-4720 Home position absolute data file

AL-4700 Servo monitor signal file AL-4730 Second home position data file

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Load the file corresponding tothe screen, and then try again


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 103

MOTOMANROBOTICSAB

Alarm 4750 Unmatched Posn Var Data Type

Alarm 4760 File No. Error

Alarm 4770 Undefined Reference Point

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Change position variable datatype (pulse - XYZ).

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Register the reference point



Page: 104

MOTOMANROBOTICS

AB

Alarm 4780 Stack More Than 8 (job call)

Alarm 4790 Arithmetic Section Request Error

Alarm 4800 Request-To-Send Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check program, and modify so thatstack does not exceed 8 calls

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 105

MOTOMANROBOTICSAB

Alarm 4810 Over Variable No.

Alarm 4820 Position Data Management Error

1 Not enough area 9 Control information destroyed

2 Number of axis zero 10 Irregular position number

3 Position not kept 11 Position data not set

4 Number of position over 12 Undefined position

5 Area not specified 13 Undefined control group

6 File destroyed 14 Initialization not done

7 Memory over 15 Number of axis over

8 Position data destroyed

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check program, and changevariable number within limit

(B000~B039)(I000~I039)D000~D039)R000~R039)P000~P127)BP000~BP127)EX000~EX127)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 106

MOTOMANROBOTICS

AB

Alarm 4830-4850 Undefined Condition File

Alarm 4860 Wrong Welder Selection

AL-4830 Welder condition file AL-4850 Arc end condition file

AL-4840 Arc start condition file

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Complete thesetting of the file

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Match unit of voltageselection to welder type



Page: 107

MOTOMANROBOTICSAB

Alarm 4870-4900 Condition File Fault

Alarm 4910 AX-CPU Command Area Error

AL-4870 Welder condition file AL-4890 Arc end condition file

AL-4880 Arc start condition file AL-4900 Arc condition supp. file

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Load file, and the try again


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 108

MOTOMANROBOTICS

AB


Alarm 4960 System Change

AL-4920 COM-ARC 3 Condition file AL-4940 Correction condition file

AL-4930 COM-ARC 3 Data file AL-4950 Phase offset data file

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Load file, and then try again


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 109

MOTOMANROBOTICSAB

Alarm 4970 Equation Exception Error

Alarm 4980 Excessive Instruction Equation

Alarm 4990 Encoder Battery Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check the program, and make the expression short

YES


Alarm Occurrence

Alarmre-occurs?

Battery failure

NO


Replace batteryboard for encoder


MFC board failure



Page: 110

MOTOMANROBOTICS

AB

Alarm 5000 Encoder Overheat

YES


Alarm Occurrence

Alarmre-occurs?

Lead failure

NO

Turn the power off, let encoder

Defective?

YES

NO

Check the wiring of fan

cool, and then turn the power on

If motor has cooling fan, checkif fan is working properly

Is fanworking?

Replace fan wiring

Alarmre-occurs?

YES

NO

YES Replace fan

Alarmre-occurs?

NO

Fan failure

YES

Check load

Loadcondition? OK

Overload

Decrease weight

Replace motor

Motor failure

Alarmre-occurs?

NO

YES



Page: 111

MOTOMANROBOTICSAB

Alarm 5010 Illegal Parameter

Alarm 5020 Zero Divisor Occurrence

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Change the parameterback to original

Load parameter file,and then try again


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Change the program so that thenumber will not be divided by zero



Page: 112

MOTOMANROBOTICS

AB

Alarm 5030 Global-Variable Area Parameter Error

Alarm 5040 Out Of Range (abso data)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Change the parameterback to original value

Load parameter file,and then try again


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO Defective?

NO

YES Replace battery

Reset alarm by checkingsecond home position

Check battery wiringto encodeers

Replace motor YESAlarm

re-occurs?

Alarmre-occurs?

YES

NOMotor failure NO

Battery failure



Page: 113

MOTOMANROBOTICSAB

Alarm 5060 Undefined Auto-Weld Release Cond

Alarm 5070 Undefined Position For Arc Retry

Alarm 5080 Overspeed Limit

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Set welding release conditiontime, and then try again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Add step, and then try again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check setting for MFC04board, and then try again



Page: 114

MOTOMANROBOTICS

AB

Alarm 5090 DC 24V Power Supply Failure

YES


Alarm Occurrence

Alarmre-occurs?

Fuse failureNO

Defective?

YES

NO

Alarmre-occurs?YES

NO

Replace fuse

Alarmre-occurs?

Check 24V power voltagesupplied to IOBB

Check fuse on IOBB

Defective?

Replace IOBB

Replace DC 24Vpower supply

NOPower supply

failure

YES

YES

NO Board failure



Page: 115

MOTOMANROBOTICSAB

Alarm 5100 Shock Sensor Action

YES


Alarm Occurrence

Alarmre-occurs?

Sensor failure

NO

Interference?

YES

NO

Alarmre-occurs? YES

NO

Alarmre-occurs?

Defective?

Replace MTUboard

NO

YES

YES

NO

Cable failure

Remove interference betweenthe tool and the fixture, etc

Remove interference,and then try again

Check the shocksensor cable

Resume use

Check the shocksensor operation

Replace cable

Abnormal?Check the setting ofIOBB short pin switch

Abnormal?

NO

YES Set the shortpin switch

YES

NO

Setting failureAlarm

re-occurs?

Replace shock sensor

Alarmre-occurs? NO

YES

MTU boardfailure

YES

Replace MRY board

Alarmre-occurs?

NO

MRY board failure

YES

Replace IOBB

Alarmre-occurs?

YES


NO IOBB failure



Page: 116

MOTOMANROBOTICS

AB

Alarm 5110 Brake Fuse Blown

YES


Alarm Occurrence

Alarmre-occurs? NO

Short?

YES

NO

Alarmre-occurs?

YES

NO

Check the

NO

YES

YES

Fuse failure

Check the brake lead wiringfor short to ground

Replace leadwire for brake

brake fuse

Lead wire failure

Fuse blown?

Replace theMTU board

Replace thebrake fuse

Alarmre-occurs?

Board failure



Page: 117

MOTOMANROBOTICSAB

Alarm 5120 Parity Error

YES


Alarm Occurrence

Alarmre-occurs? NO

YES

NO

Alarmre-occurs?

YES

NO

Check input

NO

YES

YES

parity check function

Abnormal?

Replace the MTUboard

Check theinput program

Alarmre-occurs?

Board failure

Check the parameter for

Invalidparameter?

Set the parametercorrectly

Parameter settingfailure

Abnormal input

NO



Page: 118

MOTOMANROBOTICS

AB

Alarm 5130 Over BCD Range

YES


Alarm Occurrence

Alarmre-occurs? NO

YES

NO

Alarmre-occurs?

YES

NO

Check

NO

YES

YES

function parameter

Abnormal?

Alarmre-occurs?

Board failure

Check the BCD

Invalidparameter?



NO

input/output

Check the input/output program

Input/outputfailure

Replace IOmodule board



Page: 119

MOTOMANROBOTICSAB

Alarm 5140 Over Binary Range (parity check)

Alarm 5150 Offline Undefined Command (Arith)

YES


Alarm Occurrence

Alarmre-occurs? NO

YES

NO

Alarmre-occurs?

YES

NO

Check

NO

YES

YES

Abnormal?

Alarmre-occurs?

Board failure

Invalidparameter?



NO

output

Check theoutput program

Replace IOmodule board

Check parity check - BCDfunction parameter

Output failure

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 120

MOTOMANROBOTICS

AB

Alarm 5160 Offline System Error (Arith)

Alarm 5170 Robot Calibration Data Error

Alarm 5180 Robot Calibration Frame Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 121

MOTOMANROBOTICSAB

Alarm 5190 Arithmetic Section Init Error

Alarm 5200 Set-Up Process Error (motion)

Alarm 5210 System Error (motion)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 122

MOTOMANROBOTICS

AB

Alarm 5220 Servo Ready Monitoring Error

Alarm 5230 Calibration Data Error

Alarm 5240 Tool Calibration Data Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 123

MOTOMANROBOTICSAB


Alarm 5310 Arithmetic Alarm Reset Error

AL-5250 Robot calibration file AL-5280 Arc end cond guide file

AL-5260 Tool calibration file AL-5290 Welder user-defined file

AL-5270 Arc start cond guide file AL-5300 Ladder program file

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Load the file corresponding tothe display, and then try again



Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 124

MOTOMANROBOTICS

AB

Alarm 5320 Wrong Control Group Axis

Alarm 5330 Cannot Execute Job (no robot)

Alarm 5340 Sensing Data Request Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check program and modify it (includecontrol group to the original job).

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check program and modify it (includecontrol group to the original job).

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 125

MOTOMANROBOTICSAB

Alarm 5350 Main Contactor On Reply Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Check if main contactoris working or not

Working?NO YES

Check voltage for main contactor coil

Abnormal?NO YES

Replace maincontactor

Alarmre-occurs?

NO

Contactor failure

YES Check MTU board

Defective?

NO

YES Replace MTU board

YESAlarm

re-occurs?

NO

MTU board failure



Page: 126

MOTOMANROBOTICS

AB

Alarm 5360 Main Contactor Off Reply Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Working?NO YES


Abnormal?NO YES


Alarmre-occurs?

NO

Contactor failure

YES Check MTU board

Defective?

NO


YESAlarm

re-occurs?

NO

MTU board failure



Page: 127

MOTOMANROBOTICSAB

Alarm 5370 Braking Lock Reply Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Working?NO YES


Abnormal?NO YES


Alarmre-occurs?

NO

Contactor failure

YES Check MTU board

Defective?

NO


YESAlarm

re-occurs?

NO

MTU board failure



Page: 128

MOTOMANROBOTICS

AB

Alarm 5380 Braking Release Reply Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Working?NO YES


Abnormal?NO YES


Alarmre-occurs?

NO

Contactor failure

YES Check MTU board

Defective?

NO


YESAlarm

re-occurs?

NO

MTU board failure



Page: 129

MOTOMANROBOTICSAB

Alarm 5390 Servo-Ready On Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Working?NO YES


Abnormal?NO YES


Alarmre-occurs?

NO

Contactor failure

YES Check MTU board

Defective?

NO


YESAlarm

re-occurs?

NO

MTU board failure

1



Page: 130

MOTOMANROBOTICS

AB

Alarm 5390 Servo-Ready On Error (...continued)

YES


Alarmre-occurs? Resume use

NO

Lit?

NO

YES

NO

YES

Alarmre-occurs?

NO

YES

Replace MSV board

Defective?

NO

YES

Replace servopack

YES

Alarmre-occurs?

NO

Servopack failure

1

Check change LEDon servopack

Turn off power, andthen turn it on again

Check wiring betweencontactor and servopack

Check wiring between MSVboard and servopack

Defective?

Replace wiring betweencontactor and servopack

Wiring failure

Replace wiring betweenMSV board and servopack

Alarmre-occurs? Wiring failure

YES

NO

Alarmre-occurs?

YES

NO MSV boardfailure



Page: 131

MOTOMANROBOTICSAB

Alarm 5400 Servo-Ready Off Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO



Working?NO YES


Abnormal?NO YES


Alarmre-occurs?

NO

Contactor failure

YES Check MTU board

Defective?

NO


YESAlarm

re-occurs?

NO

MTU board failure

1



Page: 132

MOTOMANROBOTICS

AB

Alarm 5400 Servo-Ready Off Error (...continued)

YES



NO

Lit?

NO

YES

NO

YES

Alarmre-occurs?

NO

YES

Replace MSV board

Defective?

NO

YES

Replace servopack

YES

Alarmre-occurs?

NO

Servopack failure

1

Check change LEDon servopack


Check wiring betweencontactor and servopack


Defective?

Replace wiring betweencontactor and servopack

Wiring failure


Alarmre-occurs? Wiring failure

YES

NO

Alarmre-occurs?

YES

NO MSV boardfailure



Page: 133

MOTOMANROBOTICSAB

Alarm 5410 Base-Block On Error

YES


Alarm Occurrence

Alarmre-occurs? Resume useNO


NO

YES

NO

YES

Alarmre-occurs?

NO

Servopack failure

YES

Defective?

NO

YES

Replace servopack

YES

Alarmre-occurs?





Wiring failure

Replace MSV board

Alarmre-occurs? NO MSV board

failure



Page: 134

MOTOMANROBOTICS

AB

Alarm 5420 Base-Block Off Error

YES


Alarm Occurrence



NO

YES

NO

YES

Alarmre-occurs?

NO

Servopack failure

YES

Defective?

NO

YES

Replace servopack

YES

Alarmre-occurs?





Wiring failure

Replace MSV board


failure



Page: 135

MOTOMANROBOTICSAB

Alarm 5430 Dynamic Brake On Error

YES


Alarm Occurrence



NO

YES

NO

YES

Alarmre-occurs?

NO

Servopack failure

YES

Defective?

NO

YES

Replace servopack

YES

Alarmre-occurs?





Wiring failure

Replace MSV board


failure



Page: 136

MOTOMANROBOTICS

AB

Alarm 5440 Dynamic Brake Off Error

YES


Alarm Occurrence



NO

YES

NO

YES

Alarmre-occurs?

NO

Servopack failure

YES

Defective?

NO

YES

Replace servopack

YES

Alarmre-occurs?





Wiring failure

Replace MSV board


failure



Page: 137

MOTOMANROBOTICSAB

Alarm 5450 Unused (on)

Alarm 5460 Unused (off)

Alarm 5470 Cannot Edit (edit lock job)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Release Edit-lock, and thenexecute the operation again



Page: 138

MOTOMANROBOTICS

AB

Alarm 5480 Select Error (application 1)

Alarm 5490 Select Error (application 2)

Alarm 5500 Select Error (sensor 1)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 139

MOTOMANROBOTICSAB

Alarm 5510 Select Error (sensor 2)

Alarm 5520 Wrong Port Out (analog output)

Data 1 Application 1 Data 2 Application 2

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 140

MOTOMANROBOTICS

AB

Alarm 5530 Pass Over

Alarm 5540 Wrong Selection (sensor)

YES


Alarm Occurrence

Alarmre-occurs?

NO

Is COM-ARC III’sfunction normal?

Check the cable betweenthe current detection unit

and the sensor board

Defective?

Change the cable

YES Check workpiecedeviation

Small LargeDeviation? Position a workpiece

NOCheck the current

detection unit

Defective? YES Replace the currentdetection unit

NO

Replace thesensor board

YES

NOAlarmre-occurs?

YES

NOSensor board failure

Current detectionunit failure

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 141

MOTOMANROBOTICSAB

Alarm 5550 Wrong Mech Parameter File

Alarm 5560 Incompleted PT Frame

Alarm 5570 Defective Taught Point (cutting)

Data 1 CW axis position is not 0. Data 2 Cutting radius is 0.

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 142

MOTOMANROBOTICS

AB

Alarm 5580 Defective Taught Point (endless)

Alarm 5590 Correctional Direction Data

Alarm 5600 Position Correction Data

Data 1 Linear motion error (MRESET not executed.

Data 3 Endless not selected on T-axis.

Data 2 Endless on base axes Data 4 Command position exceeds limit (214748367 pulse).

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 143

MOTOMANROBOTICSAB

Alarm 5610 Over Tool File No.

Alarm 5620 Defective Taught Point (weav)

Alarm 5630 Undefined Robot Calibration

Data 1 Weaving atart point and end point is the same

Data 2 Weaving REFP 1 or 2 is on the path

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check the REFP, and thenteach the REFP again

YES


Alarm Occurrence

Alarmre-occurs

Resume use

NO

Execute robot calibration



Page: 144

MOTOMANROBOTICS

AB

Alarm 5640 Parameter Error

Alarm 5650 Defective Taught Point (Calib)

Data 3 Data for station 2nd axis is not same 3, 4, 5 points.

Data 5 Data for station 2nd axis is not same 1, 2, 3 points.

Data 4 Data for station 1st axis is not same 1, 2, 3 points.

Data 6 Data for station 1st axis is not same 3, 4, 5 points.

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset the parameterwith the original data

Load the parameter fileand then try again


Resume use

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 145

MOTOMANROBOTICSAB

Alarm 5660 DM-Bank Transmission Error

Alarm 5670 Cannot Execute Job (no grp axis)

Alarm 5680 Univ Data Preset Request Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Set group axes

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 146

MOTOMANROBOTICS

AB

Alarm 5690 Braking Sequence Error

Alarm 5700 Process Error (Syscon - axis)

Alarm 5710 Illegal Sv Parameter (online)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Reset the parameterwith the original data.



Resume use



Page: 147

MOTOMANROBOTICSAB

Alarm 5720 Illegal Sv Parameter (online)

Alarm 5730 Sv Parameter Change Error (online)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Resume use


Replace the MSV board,and then try again

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Resume use


Replace the MSV board,and then try again



Page: 148

MOTOMANROBOTICS

AB

Alarm 5740 Illegal Max Speed Parameter

Alarm 5750 Undefined Position Variable

Alarm 5760 Undefined User Frame

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


Resume use

Reset the parameterwith the original data


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Set the position variable

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Set the user frame



Page: 149

MOTOMANROBOTICSAB

Alarm 5770 Out Of Range (parallel process)

Alarm 5780 SL Board On-Line Error

Alarm 5790 Interrupt Error (sensor)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 150

MOTOMANROBOTICS

AB

Alarm 5800 Out Of Current Detector Range

Alarm 5810 Command Error (sensor)

Alarm 5820 Process Error (sensor)

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO




Page: 151

MOTOMANROBOTICSAB

Alarm 5830 Parallel Start Instruction Error

Alarm 5840 Cannot Execute Job (grp axis)

Alarm 5850 Measure Inst Execute Error

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Check the program,and then modify it.

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO

Set group axes

YES


Alarm Occurrence

Alarmre-occurs?

Resume use

NO


MOTOMAN ROBOTICS ABa subsidiary of YASKAWA Electric Corporation

Headquarters:MOTOMAN ROBOTICS ABBox 504 l 385 25 Torsås l SwedenTel: +46-486-48800l Fax: +46-486-41410

Subsidiary:MOTOMAN ROBOTICS UK LTD1 Swan Industrial Estate l Banbury l OXON OX16 8DJ l EnglandTel: +44-1295-272755 l Fax: +44-1295-267127

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Distributors:ELECTRO-ARCO S.A.Rua Vice Almirante Azevedo Coutinho, 4 l Venda Nova l PT-2700 Amadora l PortugalTel: +351-14968160 l Fax: +351-14990696

HN AUTOMATIC A/SHjulmagervej 4 l DK-7100 Vejle l DenmarkTel: +45-79428000 l Fax: +45-79428001

LINCOLN-KD S.A.Ctra, Laureà Miró 396-398 l E-08980 Sant Feliu de Llobregat l SpainTel: +34-36859600 l Fax: +34-36859633

MOTOMAN ROBOTIT OYKärsämäentie 8 l SF-20300 Turku l FinlandTel: +358-22145600 l Fax: +358-22145660

ROBOT-TEKNIKK ASØvre Eikervei 177 l N-3048 Drammen l NorwayTel: +47-32217830 l Fax: +47-32217840

SIAD S.p.a.Via S. Bernardino, 92 l I-24126 Bergamo l ItalyTel: +39-35-328111 l Fax: +39-35-320183

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