YASKAWA Motoman UP6 - Page 430

10.3 Alarm Message List
10-40
4409 TWO STEPS SAME
POSITION
(3 POINTS)
Among three taught points, there was the
same point of two points or more. (User
coordinates, robots calibration, etc.)
Reset the alarm. Teach the different 3
points again.
4410 TWO STEPS SAME
POSITION
(WEAV)
The weaving base point was the same as
the wall point.
Reset the alarm. Teach the different 3
points again.
4411 TEACH ERRO
(SPLINE)
It was not an equidistant distance betwee
teaching points.
Teach again to be an even distance
between teaching point
4412 IMPOSSIBLE LINEAR
MOTION
(L/U)
In case the form of L,U axis for start point
and end point were different in interpolatio
motion except MOJV, it was not possible to
operate.
Make the form of L,U axis same and teach
again.
4413 IMPOSSIBLE LINEAR
MOTION
(S/L)
In case the form of S, L axis for start point
and end point were different in interpolatio
motion except MOJV, it was not possible to
operate.
Make the form of S, L axis the same and
teach again.
4414 EXCESSIVE SEG-
MENT
(LOW SPEED
Robot/Station
[Axis Data]
It exceeded rated speed of the motor at
specified speed.
Reset the alarm. Reduce the speed of the
step (Move instruction) occurred the alarm
or change the robot pose.
4415 EXCESSIVE SEG-
MENT
(HIGH SPEED)
Robot/Station
[Axis Data]
It exceeded rated speed of the motor at
specified speed.
Reset the alarm. Reduce the speed of
step (Move instruction) occurred the alarm
or change the robot pose.
4416 PULSE LIMIT (MIN.)
Robot/Station
[Axis Data]
It exceeded pulse software limit. Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4417 PULSE LIMIT (MAX.)
Robot/Station
[Axis Data]
It exceeded pulse software limit. Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4418 CUBE LIMIT (MIN.)
Robot/Station
[XYZ]
The tool control point exceeded cube soft
ware limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4419 CUBE LIMIT (MAX.)
Robot/Station
[XYZ]
The tool control point exceeded cube soft
ware limit.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4420 SPECIAL SOFTLIMIT
(MIN.)
Robot/Station
[Axis Data]
It exceeded pulse software limit. Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4421 SPECIAL SOFTLIMIT
(MAX.)
Robot/Station
[Axis Data]
It exceeded pulse software limit. Release the alarm and teach again
according to the release method when
software limit range is exceeded.
4422 MECHANICAL
INTERFERENCE
(MIN.)
Robot/Station
[Axis Data]
An abnormal (reverse) axis interfered mutu
ally.
Reset the alarm. Release the interference
and teach again.
Alarm Message List
Alarm
Number
Message Cause Remedy