YASKAWA NX100 - Page 195

8.3 Alarm Message List
8-91
4508
SPECIFIED
ERROR
(COORDINATE)
An invalid coordinate system was specified.
Reset the alarm, and then specify a valid
coordinate system.
16 • Designation error of the H-LINK
type cylindrical coordinate sys-
tem. This coordinate system can-
not be used.
4509 MFRAME
ERROR
1 An error occurred at MFRAME exe-
cution.
The master or slave control group is incorrect
when the master tool user coordinate is spec-
ified.
4510 CANNOT EXE-
CUTE INSTRUC-
TION (SQRT)
--- The SQRT instruction could not be
executed.
• An attempt was made to calculate
the square root of negative value.
(The second argument was nega-
tive.)
Correct the job.
4511 OUT OF RANGE
(DROP-VALUE)
--- Incorrect robot position when the
servo was turned ON
The pulse difference of the robot
position exceeded the allowable
value between when the servo was
OFF previously and when the servo
was ON this time.
The standard allowable number of
pulses is 100. (Subcode: Control
group exceeding the allowable
value.)
Reset the alarm, and then try again.
4512 TWO STEPS
SAME LINE
(3 STEPS)
--- The teaching points are aligned in a
straight line.
• In the user coordinates for calibra-
tion between manipulators, three
or more teaching points are
aligned in a straight line.
Perform the teaching again so that the teach-
ing points are not aligned in a straight line.
4513 EXCESSIVE
SEGMENT
(SAFETY: 1)
: LOW
--- At the safety speed 1, the manipu-
lator motion speed exceeded the
speed limit value (LOW level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4514 EXCESSIVE
SEGMENT
(SAFETY: 1)
: HIGH
--- At the safety speed 1, the manipu-
lator motion speed exceeded the
speed limit value (HIGH level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4515 EXCESSIVE
SEGMENT
(SAFETY: 2)
: LOW
--- At the safety speed 2, the manipu-
lator motion speed exceeded the
speed limit value (LOW level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4516 EXCESSIVE
SEGMENT
(SAFETY: 2)
: HIGH
--- At the safety speed 2, the manipu-
lator motion speed exceeded the
speed limit value (HIGH level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4517 SEARCH
MONITOR SET
ERROR
(SERVO)
--- An error occurred in search/moni-
toring mode settings in servo sec-
tion.
• An error occurred in interface with
servo section at search/monitor-
ing mode. (Subcode: The related
control-group)
Check the system versions for XCP01 and
AXA01.
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause Remedy