YASKAWA YRC1000micro - Page 74

HW1484764
Alarm List
7-11
HW1484764
Alarm Code
Alarm Message
Sub Code
Meaning
Possible Solutions
8000
HNDG: PARAM
RANGE ERROR
Hand guiding
parameter
range error
Change the setting of the D variable with the
number of "sub-code + 200" to a value within
the specified range.
8001
HNDG: PARAM
CONFLICT
Hand guiding
parameter
relationship
error
Check the magnitude relationship between the
setting of the D variable with the number of
"sub-code + 200" and that of the associated D
variable and correct the value accordingly.
8002
AVOID: PARAM
RANGE ERROR
Avoidance
function
parameter
range error
Change the setting of the D variable with the
number of "sub-code + 300" to a value within
the specified range.
8003
AVOID: PARAM
CONFLICT
Avoidance
function
parameter
relationship
error
Check the magnitude relationship between the
setting of the D variable with the number of
"sub-code + 300" and that of the associated D
variable and correct the value accordingly.
8006
Cannot start hand
guiding JOINT
1
Cannot start
hand guiding
(JOINT mode)
Do not apply an external force to the
manipulator when you start hand guiding
operation.
8007
Cannot start hand
guiding XYZ-T
1
Cannot start
hand guiding
(XYZ+T mode)
Do not apply an external force to the
manipulator when you start hand guiding
operation.
8008
Cannot start hand
guiding RBT
1
Cannot start
hand guiding
(RBT mode)
Do not apply an external force to the
manipulator when you start hand guiding
operation.
8010
Can not
restart(IMOV)
0
Error in
returning from
avoidance
operation
Correct the job so that avoidance operation is
not performed during IMOV.
8011
Hand guide error.
Hand guiding
operation error
Turn off and back on the servo and then resume
hand guiding.
8015
Cannot Avoid from
clamp
Escape from
clamping
operation error
Ensure that the servo is not in the off or hold
state during escape from clamping operation.
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