YASKAWA NX100 - Page 198

8.3 Alarm Message List
8-94
4534 TORQUE
INTERFERENCE
--- Excessive interference torque
• The load torque of an axis motor
exceeded the allowable value
when the manipulator is operat-
ing at the specified speed.
• Check if the weight information in the tool
file is correctly set.
• Reduce the speed in the step where the
alarm occurred.
• Change the position and orientation in the
step where the alarm occurred.
4535 PSEND ERROR
An error occurred at PSEND instruction exe-
cution.
Check the destination address.1 • An attempt was made to send a
mail to its own task.
3 • The mail box number is incorrect.
4536 PRECV ERROR
An error occurred at PRECV instruction exe-
cution.
Check the destination address.
1 • An attempt was made to receive a
mail from its own task.
2 • The mail data type is inconsistent.
3 • The mail box number is incorrect.
4537
OFFLINEMAIL
BOX PROCESS-
ING ERROR
An error occurred in mail box control in the
offline processing section.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
1 • Mail box number error
2 • Undefined command for mail box
operation
3 • OFF_MB_IFS pointer is incorrect.
4538 ROBOT AXIS
TRACKING
IMPOSIBILITY
--- The robot axis tracking could not be
executed.
• An attempt was made to execute
the SYMOVJ instruction at robot
tracking.
Correct the job.
4539
CORNER R
CONTROL
ERROR
An internal control error occurred at the Cor-
ner-R motion.
Do not use the Corner-R motion for coordi-
nated motion.
1 • The Corner-R motion cannot be
used for coordinated motion.
2 • An attempt was made to execute
the Corner-R motion for the same
point.
Perform the teaching again so that the start
step and end step are not on the same point.
3 • The Corner-R zone is taught on a
straight line.
Perform the teaching again so that the Cor-
ner-R zone is not on a strait line.
4 • The start position or end position
for the Corner-R motion could not
be calculated inside the start zone
or the end zone.
• Change the setting for the Corner-R radius.
• Perform the teaching again for the start step
or end step for Corner-R.
5 • The Corner-R motion cannot be
used for coordinated motion (with
master manipulators).
Do not use the Corner-R motion for master
manipulators at coordinated motion.
6 • The Corner-R motion cannot be
used for MOVC, MOVS, and
EIMOVC instructions.
Use a MOVL instruction when using the Cor-
ner-R motion.
7 • The Corner-R motion is disabled
during weaving.
Do not perform weaving when using the Cor-
ner-R motion.
8 • Different tool numbers are set in a
Corner-R zone (for the Corner-R
middle step and end step).
Use the same tool number in a Corner-R
zone.
9 • The Corner-R motion is disabled
when the higher-order accelera-
tion/deceleration is specified.
Disable the higher-order acceleration/decel-
eration when using the Corner-R motion.
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause Remedy