Alarm List
Alarm Number (4000 to 4999)
Alarm List-848
4677 IMPOSSIBLE LINEAR
MOTION
Sub Code: Control group and
axis
Setting error (1)Check the following settings.
∙ 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 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 careful to the peripheral interference since its movement changes.
other If the alarm occurs again, save the CMOS.BIN in maintenance mode,
and then contact your Yaskawa representative about occurrence
status (operating procedure).
4678 SPOT MONITOR
DATA ERROR
Sub Code: Internal control
error in software
Software operation error
occurred
(1)Reset the alarm.
(2)If the alarm occurs again, initialize the database of spot weld history.
(3)If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your Yaskawa representative about
occurrence status (operating procedure).
4680 F-SAFE COMMAND
ERROR (YCP21)
The previous command was
not completed.
Sub Code: Functional safety
board station number.
Software operation error
occurred
Reset the alarm, and then try again.
other If the alarm occurs again, save the CMOS.BIN in maintenance mode,
and then contact your Yaskawa representative about occurrence
status (operating procedure).
4681 OVER SPEED
(MainCPU)
Sub Code: Control group and
axis
Setting error (1)Check the following settings.
∙ 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.
other If the alarm occurs again, save the CMOS.BIN in maintenance mode,
and then contact your Yaskawa representative about occurrence
status (operating procedure).
4684 INTERPOLATION
INVALID
Sub Code: Control group Setting error (1)Check the following settings.
∙ At the Cartesian jog operation, switch to each-axes jog operations,
and then change the orientation of manipulator.
∙ Change the teaching position and orientation.
Alarm
Number
Alarm Name
Sub
Code
Meaning Cause Remedy
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