YASKAWA NX100 - Page 175

8.3 Alarm Message List
8-71
4404
ARITHMETIC
ERROR
An error occurred in the arithmetic process
for coordinates.
• Change the positions so that two arms are
not aligned in a straight line.
• Change the step (move instruction), where
the alarm occurred, to MOVJ.
1 • The S-arm and L-arm of a scalar
type manipulator are aligned in a
straight line. Interpolation such
as linear and circular interpola-
tion is impossible in such orienta-
tion.
2 • When a vertically-articulated
manipulator was moved by a spe-
cial linear interpolation, the R-axis
angle could not correctly be cal-
culated.
Change the position in the step (move
instruction) where the alarm occurred.
3 • When a vertically-articulated
manipulator was moved by a spe-
cial linear interpolation, the L-axis
angle could not correctly be cal-
culated.
4 • The L-arm and U-arm of a verti-
cally-articulated manipulator are
aligned in a straight line. Interpo-
lation such as linear and circular
interpolation is impossible in such
orientation.
• Change the positions so that two arms are
not aligned in a straight line.
• Change the step (move instruction), where
the alarm occurred, to MOVJ.
6 • The L-arm and U-arm of a verti-
cally-articulated manipulator are
aligned in a straight line. Interpo-
lation such as linear and circular
interpolation is impossible in such
orientation.
7 • The TCP of the manipulator is out
of working envelope.
• Perform the teaching again so that the TCP
of the manipulator is always within the
working envelope.
• Change the shift value so that the TCP of
the manipulator is always within the work-
ing envelope.
8 • Interpolation such as linear and
circular interpolation cannot be
performed with this manipulator.
Change the step (move instruction), where
the alarm occurred, to MOVJ.
9 • Specified motion cannot be per-
formed with this manipulator.
Correct the taught point.
4405 SELECT ERROR
(PARAMETER)
1 A parameter error occurred in the
path control section.
• Selection error of motion system
parameter
• Reset the alarm, and turn the power OFF
then back ON.
If the error occurs again, contact your
Yaskawa representative.
4406
GROUP AXIS
CONTROL
ERROR
An internal control error occurred in a coordi-
nated motion.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
1 • Designation error for master and
slave
2 • Slave designation error
3 • Slave interpolation error
4 • No designation of master axis
5 • No designation of slave axis
6 • Master-axis designation error for
JOG motion
7 • Slave-axis designation error for
JOG motion
8 • Occupation control error
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause Remedy