YASKAWA NX100 - Page 176

8.3 Alarm Message List
8-72
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.
9 • Designation error of occupation
control for JOG motion
10 • Designation error of occupation
control for Bank position
11 • Designation error of occupation
control group for tracking motion
12 • No master and slave designated
for tracking motion
4407 TWO STEPS
SAME POSI-
TION (CIRC)
--- Among three taught points in a cir-
cular interpolation step, two or three
points are on the same point.
Teach the different 3 points again.
4408 TWO STEPS
SAME POSI-
TION (SPLINE)
--- Among three taught points in a
spline interpolation step, two or
three points are on the same point.
Teach the different 3 points again.
4409 TWO STEPS
SAME POSI-
TION (3 POINTS)
--- Among three taught points to create
an user coordinate system, two or
three points are on the same point.
Teach the different 3 points again.
4410 TWO STEPS
SAME POSI-
TION (WEAV)
--- Among three taught points (start,
end, and reference points) to create
a weaving coordinate system, two
or three points are on the same
point.
Teach the different 3 points again.
4411 TEACH ERROR
(SPLINE)
--- The spline interpolation could not
correctly be performed.
• The distance between the teach-
ing points in the spline interpola-
tion section is not equidistant.
Teach the positions so that the distance
between the teaching points is even.
4412 IMPOSSIBLE
LINEAR MOTION
(L/U)
--- Interpolation motion could not be
performed because of different
form of L- and U-axes.
• In case the form (folded direction)
of L- and U-axes at start point and
end point are different except for
MOVJ instructions, the manipula-
tor cannot move.
• Perform the teaching again to make the
form of L- and U-axes same at start point
and end point.
• Use a MOVJ instruction.
4413 IMPOSSIBLE
LINEAR MOTION
(S/L)
--- Interpolation motion could not be
performed because of different
form of S- and L-axes.
• In case the form (folded direction)
of S- and L-axes at start point and
end point are different except for
MOVJ instructions, the manipula-
tor cannot move.
• Perform the teaching again to make the
form of S- and L-axes same at start point
and end point.
• Use a MOVJ instruction.
4414 EXCESSIVE
SEGMENT
(LOW SPEED)
--- The manipulator motion speed
exceeded the limit (LOW level).
• Reduce the speed in the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4415 EXCESSIVE
SEGMENT
(HIGH SPEED)
--- The manipulator motion speed
exceeded the limit (HIGH level).
• Reduce the speed in the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4416 PULSE LIMIT
(MIN.)
--- The manipulator exceeded its
motion limit (pulse limit) in the neg-
ative (
−)
direction.
Change the manipulator position in the step
(move instruction) where the alarm occurred.
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause Remedy