8.3 Alarm Message List
8-86
4496
PARAMETER
ERROR
Setting error of motion control parameter
• Set a correct value.
If the error occurs again, contact your
Yaskawa representative.
10 • The setting of the manipulator
number is incorrect. An unde-
fined type is designated.
11 • The incorrect coordinate system is
designated for the cubic interfer-
ence. An undefined coordinate
system is set.
12 • The designation of the user coor-
dinates number is incorrect. A
number out of the setting range is
set.
13 The reduction ratio ≤ 0 is output. • Set a correct value for the resolution.
If the error occurs again, contact your
Yaskawa representative.
14 • Zero or a negative value is set for
the spring constant.
• Set a correct value for the spring constant.
If the error occurs again, contact your
Yaskawa representative.
15 • Zero or a negative value is set for
the motor inertia.
• Set a correct value for the motor inertia.
If the error occurs again, contact your
Yaskawa representative.
16 • Zero or a negative value is set for
the speed calculation constant.
• Set a correct value for the speed calculation
constant.
If the error occurs again, contact your
Yaskawa representative.
17 • Dividing number setting error If the error occurs again, contact your
Yaskawa representative.
18 • The setting of allowable torque for
the speed reducer is incorrect.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
19 • The setting of allowable torque for
the motor is incorrect.
20 • The manipulator type is not appli-
cable for torque acceleration/
deceleration.
Do not use the torque acceleration/decelera-
tion with this manipulator.
21 • Zero or a negative value is set for
the balancer.
• Set a correct value for the balancer.
If the error occurs again, contact your
Yaskawa representative.
22 • The angle of hexagon set for the
CUT instruction is out of the range
"0 degree < angle < 60 degrees."
• Set a correct value for the angle of hexa-
gon.
If the error occurs again, contact your
Yaskawa representative.
23 • Encoder type designation error
If the error occurs again, contact your
Yaskawa representative.
24 • Observer sampling time error
25 • Two-degree-of-freedom system
Kp value error
26 • The setting of torque acceleration/
deceleration designation parame-
ter is incorrect.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
27 • Observer polarity setting error
If the error occurs again, contact your
Yaskawa representative.
28 • The inertia value error for the shift
value calculation
29 • Observer attenuation constant
error
30 • Torque estimation parameter error
31 • The segment clock error occurred
when the PV loop is 1 ms.
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause Remedy
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