NX100 OPTIONS INSTRUCTIONS - Motoman · 2018-12-11 · v 162074-1CD HW0483057 Definition of Terms...

NX100 OPTIONSINSTRUCTIONSFOR TROUBLESHOOTING

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

Part Number: 162074-1CDRevision: 1

MOTOMAN INSTRUCTIONS

NX100 INSTRUCTIONSNX100 OPERATOR’S MANUALNX100 MAINTENANCE MANUAL

The NX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

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• This manual explains the troubleshooting for the NX100 system. Read this manual carefully and be sure to understand its contents before handling the NX100.

• General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.

• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.

MANDATORY

CAUTION

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Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items.

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and dam-age to equipment. It may also be used to alert against unsafe practices.

Always be sure to follow explicitly the items listed under this heading.

Must never be performed.

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed.When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:- View the manipulator from the front whenever possible.- Always follow the predetermined operating procedure.- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before:- Turning ON the NX100 power.- Moving the manipulator with the programming pendant.- Running the system in the check mode.- Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problems. The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.

WARNING

TURN

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Definition of Terms Used Often in This ManualThe MOTOMAN manipulator is the YASKAWA industrial robot product.The manipulator usually consists of the controller, the programming pendant, and supply cables.In this manual, the equipment is designated as follows.

• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.

-Check for problems in manipulator movement.-Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the NX100 cabinet after use.

The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the NX100 Instructions before operating the manipulator.

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming pendant Programming pendant

CAUTION

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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:

Description of the Operation ProcedureIn the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen.

Equipment Manual Designation

Programming Pendant

Character Keys The keys which have characters printed on them are denoted with [ ].ex. [ENTER]

Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.

ex. page keyThe cursor key is an exception, and a picture is not shown.

Axis KeysNumber Keys

“Axis Keys” and “Number Keys” are generic names for the keys for axis operation and number input.

Keys pressed simultaneously

When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming pendant is denoted with { }.ex. {JOB}

GO BACK

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Explanation of Warning LabelsThe following warning labels are attached to the manipulator and NX100.Always follow the warnings on the labels.

•The following warning labels are attached to NX100. Always follow the warnings on the labels.

Neglect of this warning may cause a serious accident.

To find these labels, please refer the Manipulator Instruction book.

• The following warning labels are attached to the NX100.Always follow the warnings on the labels.

Neglect of this warning may cause a serious accident.

To find these labels, please refer the Manipulator Instruction book

WARNING

WARNING

Do not enterrobot work area.

WARNING

Moving partsmay causeinjury

WARNINGHigh VoltageDo not open the doorwith power ON.

WARNING

High VoltageDo not ope the cover.

WARNING

May causeelectric shock.Ground the earthterminal based onlocal and nationalelectric code.

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Troubleshooting at the time of System Start . . . . . . . . . . . . . . . .1 Restoration method when PP disconnected occuuring . . . . . . . .8 Restoration method when TP ALARM occurring . . . . . . . . . . . .10 AL-0020 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 AL-0021 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 AL-0030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 AL-0060 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 AL-0100 / 0101 / 0102 / 0103 . . . . . . . . . . . . . . . . . . . . . . . . . .17 AL-0200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 AL-0210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 AL-0220 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20 AL-0230 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21 AL-0240 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22 AL-0270 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 AL-0300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24 AL-0310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25 AL-0320 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 AL-0330 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27 AL-0350 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28 AL-0390 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 AL-0400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30 AL-0410 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31 AL-0420 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32 AL-0500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33 AL-0520 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34 AL-0710 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35 AL-0720 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36 AL-0800 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37 AL-0801 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38 AL-0802 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39 AL-0803 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40 AL-0900 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41 AL-0910 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42 AL-0920 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43 AL-0930 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44 AL-0950 / 0951 / 0952 / 0953 . . . . . . . . . . . . . . . . . . . . . . . . . .45 AL-1001 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46 AL-1030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47 AL-1031 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48 AL-1050 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

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AL-1051 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 AL-1100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 AL-1101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 AL-1102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 AL-1103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 AL-1104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 AL-1105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 AL-1200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 AL-1204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 AL-1207 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 AL-1208 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 AL-1209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 AL-1210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 AL-1211 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 AL-1212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 AL-1213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 AL-1214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 AL-1215 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 AL-1216 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 AL-1217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 AL-1218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 AL-1219 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 AL-1220 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 AL-1221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 AL-1223 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 AL-1224 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 AL-1225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 AL-1300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 AL-1301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 AL-1302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 AL-1303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 AL-1304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 AL-1306 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 AL-1307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 AL-1308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 AL-1309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 AL-1310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 AL-1311 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 AL-1312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 AL-1321 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

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AL-1322 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81 AL-1325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82 AL-1325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83 AL-1326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84 AL-1327 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85 AL-1328 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86 AL-1329 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87 AL-1330 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88 AL-1331 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89 AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90 AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91 AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92 AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93 AL-1343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .94 AL-1345 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95 AL-1349 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97 AL-1352 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98 AL-1355 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99 AL-1500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100 AL-1501 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100 AL-1502 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100 AL-1503 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101 AL-1504 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102 AL-1505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103 AL-1506 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103 AL-1507 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103 AL-1508 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103 AL-1509 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103 AL-1510 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104 AL-1511 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105 AL-1512 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106 AL-1513 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107 AL-1514 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108 AL-1515 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109 AL-1516 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109 AL-1547 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110 AL-1592 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111 AL-1593 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111 AL-1594 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111 AL-4000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112

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AL-4001 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 AL-4002 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 AL-4003 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 AL-4004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 AL-4005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 AL-4006 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 AL-4007 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 AL-4008 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 AL-4009 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 AL-4010 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 AL-4012 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 AL-4013 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 AL-4014 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 AL-4017 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 AL-4018 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 AL-4019 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 AL-4020 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 AL-4021 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 AL-4024 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 AL-4025 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 AL-4028 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 AL-4031 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 AL-4032 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 AL-4033 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 AL-4034 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 AL-4035 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 AL-4036 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 AL-4037 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 AL-4038 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 AL-4039 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 AL-4040 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 AL-4041 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 AL-4042 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 AL-4043 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 AL-4044 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 AL-4045 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 AL-4046 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 AL-4047 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 AL-4048 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 AL-4049 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

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AL-4050 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153 AL-4051 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154 AL-4052 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155 AL-4053 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156 AL-4054 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157 AL-4055 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158 AL-4056 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .159 AL-4057 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160 AL-4058 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161 AL-4059 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162 AL-4060 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .163 AL-4061 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164 AL-4062 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .165 AL-4063 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166 AL-4064 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167 AL-4065 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168 AL-4069 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .169 AL-4100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170 AL-4101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171 AL-4102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172 AL-4103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172 AL-4104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172 AL-4105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172 AL-4106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172 AL-4107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173 AL-4109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173 AL-4110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174 AL-4111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175 AL-4112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176 AL-4113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177 AL-4114 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178 AL-4115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179 AL-4116 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180 AL-4117 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181 AL-4118 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182 AL-4119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183 AL-4121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184 AL-4122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185 AL-4123 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186 AL-4126 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187

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AL-4130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 AL-4131 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 AL-4132 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 AL-4137 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 AL-4200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 AL-4201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 AL-4202 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 AL-4203 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 AL-4204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 AL-4206 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 AL-4207 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 AL-4208 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 AL-4209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 AL-4210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 AL-4220/4221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 AL-4222 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 AL-4225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 AL-4228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 AL-4229 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 AL-4230 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 AL-4301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 AL-4302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 AL-4303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 AL-4304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 AL-4305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 AL-4306 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 AL-4307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 AL-4308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 AL-4309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 AL-4310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 AL-4311 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210 AL-4312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 AL-4313 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213 AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214 AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 AL-4315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 AL-4315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 AL-4315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

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AL-4372 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 AL-4400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 AL-4401 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 AL-4402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 AL-4404 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 AL-4406 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 AL-4407 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 AL-4408 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 AL-4409 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 AL-4410 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 AL-4411 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 AL-4412 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 AL-4413 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 AL-4414 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 AL-4415 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 AL-4416/AL-4417 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 AL-4418/AL-4419 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 AL-4420/AL-4421 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 AL-4422/AL-4423 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 AL-4424/AL-4425 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 AL-4426/AL-4427 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 AL-4428 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 AL-4429 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 AL-4430 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 AL-4431 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 AL-4432 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 AL-4433 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 AL-4435 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 AL-4436 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 AL-4437 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 AL-4438 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 AL-4439 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 AL-4440 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 AL-4441 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 AL-4444 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 AL-4445 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 AL-4446 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 AL-4447 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 AL-4448 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 AL-4449 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

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AL-4505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 AL-4506 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 AL-4507 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 AL-4508 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 AL-4509 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 AL-4510 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277 AL-4511 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278 AL-4512 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 AL-4513 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 AL-4514 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 AL-4515 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 AL-4516 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 AL-4517 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 AL-4518 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 AL-4521 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 AL-4524 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 AL-4527 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 AL-4528 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 AL-4529 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 AL-4534 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 AL-4542 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 AL-4543 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 AL-4546 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286 AL-4550 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 AL-4551 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 AL-4566 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 AL-4571 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287 AL-4572 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 AL-4573 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 AL-4574 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 AL-4575 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 AL-4576 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 AL-4577 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288 AL-4578 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 AL-4579 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 AL-4581 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289 AL-4587 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 AL-4591 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 AL-4592 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 AL-4597 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

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AL-4599 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .291 AL-4601 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .291 AL-4603 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .292 AL-4606 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .292 AL-4607 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .292 AL-4608 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .292 AL-4612 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293 AL-4621 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293 AL-4622 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293 AL-4652 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293 AL-4653 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293 AL-4800 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .294 AL-4901 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .295 AL-4332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .296 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .298

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Troubleshooting at the time of System Start

If NX100 does not start up and the alarm is not displayed, the NX100 turn off and then turn on.If this does not change the situation, take an action following the instructions below.

Table. 1

Table. 2

Screen status of programming pendant

7SEG LED for the robot I/F unit (NIF01)

Cause Remedy

*Not displayed.

Lights off The CPU unit is not powered. Check the state of the primary power supply.

Check that the controller power has not been turned off from out-side.

Replace the controller power Supply (CPS-420F) (*1).

Other than above. Although the CPU unit is pow-ered, the programming pendant is not powered.

Check the cable connection sta-tus between the robot I/F unit and the programming pendant.

Replace the cable between the robot I/F unit and the program-ming pendant with a new one.

The programming pendant is out of order or malfunction.

Replace the programming pen-dant.

The robot I/F unit is out of order or malfunction.

Remove the robot I/F unit from the CPU unit and reinstall it.

Replace the robot I/F unit (*2).


7SEG LED for the robot I/F unit

NCP01 LED(two)

Cause Remedy

*Illustration of robot

Lights off


Remove the robot I/F from the CPU unit and reinstall it.


Lights up all [8.]

One or more lights are off.

NCP01 is out of order or mal-function.

Remove the NCP01 unit from the CPU unit and reinstall it.

Replace the NCP01 (*3).

The optional board inserted into the option slot in the CPU rack is out of order or malfunction.

Remove the boards from the option slots #1 and #2 and rein-stall them.

Replace the boards in the option slots #1 and #2 with new ones.

The backboard is out of order. Replace the whole CPU unit (*6).

Both lights are on.

The system program cannot be properly read from the compact flash in NCP01.

Remove the compact flash from NCP01 and reinstall it.

Replace the compact flash of NCP01 (*4).

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Table. 3


7SEG LED for the robot I/F unit

NCP01 LED

Cause Remedy

*Illustration of robot

[0] or [1]







Specified data cannot be prop-erly read from the compact flash in NCP01 or an invalid value is specified.


Execute "CMOS LOAD" or "SYSTEM RESTORE" in the maintenance mode (*5).







Replace the boards in the option slots #1 and #2.


Other than above.

A communication error has occurred between NCP01 and the programming pendant.

Check the cable connection sta-tus between the NCP01 and the programming pendant.

Replace the cable between the NCP01 and the programming pendant.





Cause Remedy

*Blue gradation

[2] to [9] or [b] to [c]


Remove the NCP01 from the CPU unit and reinstall it.





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Cause Remedy

*Blue gradation

[2] to [9] or [b] to [c]












Replace the boards in the option slots #1 and #2.


[E] A communication error has occurred between NCP01 and the programming pendant.









[d] or [F] A communication error has occurred between NCP01 and the programming pendant.



The version of NCP01 and pro-gramming pendant are inconsis-tent.

Replace it with the programming pendant with the consistent ver-sion.



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Table. 4

Table. 5



Cause Remedy

*The maintenance mode is activated at power-on even though it is not selected.

[F] The data in the robot I/F unit is an invalid value.

Check the battery voltage. If the battery voltage has dropped, replace the battery with a new one.





Error status determined by the function other than the programming pendant

Cause Remedy

At least one of (two) NCP01 LEDs is off. NCP01 is out of order or mal-function.


Remove the NCP01 (*3).


The dot of 7SEG LED in the robot I/F unit does not blink.









The 7SEG LED in the robot I/F displays "P."

After normal startup, a communi-cation error has occurred between NCP01 and the pro-gramming pendant.


Replace the cable between the NCP01 and the programming pendant with a new one.



AXA01/AXA02 7SEG LEDs display "F003."








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*1: Replace the control power supply (CPS-420F).• For the replacement procedures, refer to "5.1.1 Replacing Parts of the CPU Unit" in

"NX100 MAINTENANCE MANUAL."

*2: Replace the robot I/F unit.• For the replacement procedures, refer to "5.1.1 Replacing Parts of the CPU Unit" in


*3: Replace NCP01.• For the replacement procedures, refer to "5.1.1 Replacing Parts of the CPU Unit" in


*4: Replace the NCP01 compact flash.Perform replacement with the following steps.

1. Save the current data in NX100.• Insert the compact flash used to save data into the programming pendant, start it in the

maintenance mode, and select {Tool} {Compact Flash} "CMOS SAVE".2. Prepare a compact flash with the same version.

• Prepare the compact flash containing the NX software with the same version as the currently used compact flash.

3. Remove the current compact flash from NCP01.4. Install the new compact flash into NCP01.5. Start it in the maintenance mode and load backup data.<When backup data is CMOS.BIN>

• Copy the CMOS.BIN file saved in advance to the compact flash used to save data and insert the compact flash into the programming pendant.

• Change the security mode to the management mode and select {Tool} {Compact Flash} "CMOS LOAD".

<When backup data is CMOSBK.BIN, CMOSBK1.BIN through CMOSBK99.BIN>• Copy the backup data saved by the automatic backup function (CMOSBK.BIN,

CMOSBK1.BIN through CMOSBK99.BIN) to the compact flash used to save data and insert the compact flash into the programming pendant.

• Change the security mode to the management mode and select {Tool} {Compact Flash} "SYSTEM RESTORE."

• When the list of backup files is displayed, select the files you want to load to NX100 and load them. If the version is earlier than the one shown below, initialize in the manufacturer mode

before executing "CMOS LOAD" or "SYSTEM RESTORE." NS3.10-00, NS2.30-02, NT2.40-02, NS2.0P-00, NS2.0P-12, NJ3.20-00

AXA01/AXA02 7SEG LEDs display "F003."

A communication error has occurred between NCP01 and AXA01/AXA02.

Check the cable connection sta-tus between the NCP01 and the AXA01/AXA02.

Replace the cable between the NCP01 and the AXA01/AXA02 with a new one.

The backboard is out of order. Replace the whole CPU unit. (*6).

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If the version is earlier than NS1.8HA-00, start the compact flash in the online mode after executing "CMOS LOAD" and load all individual data except for jobs and parameters.

*5: Execute "CMOS LOAD" or "SYSTEM RESTORE" in the maintenance mode.Perform replacement with the following steps.


maintenance mode, and select {Tool} {Compact Flash} "CMOS SAVE".2. Start the compact flash in the maintenance mode and load backup data.<When backup data is CMOS.BIN>







before executing "CMOS LOAD" or "SYSTEM RESTORE." NS3.10-00, NS2.30-02, NT2.40-02, NS2.0P-00, NS2.0P-12, NJ3.20-00


*6:Replace the whole CPU unit.Perform replacement with the following steps.


maintenance mode, and select {Tool} {Compact Flash} "CMOS SAVE".2. Shut off the power.3. Remove all wires from the CPU unit.4. Replace the CPU unit with a new one.5. Install all the removed wires.6. Set the same value as the old board to the rotary switch on each board within the CPU

unit.7. Start the compact flash in the maintenance mode and load backup data.<When backup data is CMOS.BIN>



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before executing "CMOS LOAD." or "SYSTEM RESTORE." NS3.10-00, NS2.30-02, NT2.40-02, NS2.0P-00, NS2.0P-12, NJ3.20-00


To back up data, perform the following steps.<Manual backup>

• Insert the compact flash used to save data into the programming pendant, start it in the maintenance mode, and select {Tool} {Compact Flash} "CMOS SAVE".

<Using the automatic backup function>• For details on the automatic backup function, refer to "9.3 Automatic Backup Function"

in "NX100 INSTRUCTIONS." The automatic backup function is available in the version after NS3.00. Back up individual data online if the version is earlier than NS1.8HA-00.

Although backing up individual data is not required in other versions, this operation is recommended just to be safe.

Be sure to back up data in case that the board fails when changing the settings.NOTE

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Restoration method when PP disconnected occuuringWhen the dialogue of ’Programming pendant is disconnected.’ is displayed in the program-ming pendant. (standard pendant: NPP01-1), please restore in the following procedures.

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Restoration method when TP ALARM occurringWhen the dialogue of ’T.P ALARM’ is displayed in the programming pendant (explosion-proof pendant: NPP03), please restore in the following procedures.

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AL-0020CPU COMMUNICATION ERROR: [CPU Board]The NX100 previously stores the connected CPU boards, and check if each board properly responds on a startup. This alarm occurs if there is any CPU board which does not properly respond to the NX100. Sub Code: CPU Board No.

01: NCP01 (Main CPU board)10: Optional board #120: Optional board #250: AXA01/AXA02 (1st AXA board) 51: AXA01/AXA02 (2nd AXA board) 52: AXA01/AXA02 (3rd AXA board) 53: AXA01/AXA02 (4th AXA board)

Sub code is any of the numbers from [50] to [53].

Check the AXA board configuration setting of the corresponding sub code.

The setting is correct. NoYes

Reconfigure the control axis in Maintenance Mode.

Alarm?NoYes

Check and reconfigure the AXA board rotary switch setting of the corresponding sub code. (Refer to Appendix 3-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Check the insertion of NIF unit and the cable connection of NIF unit connector CN01.(Refer to Appendixes 2-1 and 3-1.)

Check the insertion of the AXA board of the corresponding sub code and the cable connection of AXA board connector CN02.(Refer to Appendix 2-1 and 3-1.)

Replace the AXA board of the corresponding sub code. (Refer to Appendix 3-1.)

Replace the NIF unit, and initialize the NX100 system configuration.(Refer to Appendix 3-1.)

Alarm?NoYes

Alarm?NoYes

Contact your Yaskawa representative. End of corrective measures

Reset the NX100 by turning OFF and ON the power.

Save the NX100 internal data.

Alarm?NoYes

Sub code is [1].

A major unconformity occured inthe internal data.

Initialize the NX100 system configuration.

Alarm?NoYes

Alarm?NoYes


Replace the NCP01 board including CompactFlash. (Refer to Appendix 3-1.)

Replace the CPU rack, and initialize the NX100 system configuration.(Refer to Appendix 3-1.)

End of correctivemeasures

The alarm occurs.

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AL-0021COMMUNICATION ERROR (SERVO): [CPU Board]The NX100 transfers special commands to operate SERVO units on its startup as well as its regular operation process. This alarm occurs if there is any communication failure in transferring the special commands. Sub Code: CPU Board No.

50: AXA01/AXA02 (1st AXA board)

51: AXA01/AXA02 (2nd AXA board)

52: AXA01/AXA02 (3rd AXA board)

53: AXA01/AXA02 (4th AXA board)



Alarm?NoYes


NoYes


Alarm?NoYes

Alarm?NoYes


Alarm?NoYes

Check the insertion of NIF unit and the cable connection of NIF unit connector CN01.(Refer to Appendix 2-1 and 3-1.)

Alarm?NoYes


Alarm?NoYes

Replace the NIF unit, and initialize the NX100 system configuration. (Refer to Appendix 3-1.)

Contact your Yaskawa representative.


Alarm?NoYes


The setting is correct.

The alarm occurs.

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AL-0030ROM ERROR: [CPU Board]The NX100 system program (ROM) runs after RAM expansion executed on a startup. This alarm occurs if there is any failure in the RAM expansion. Sub Code: CPU Board No.

01: NCP01 (Main CPU board)10: Optional board #120: Optional board #250: AXA01/AXA02 (1st AXA board) 51: AXA01/AXA02 (2nd AXA board) 52: AXA01/AXA02 (3rd AXA board) 53: AXA01/AXA02 (4th AXA board)



NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Check the insertion of the AXA board of the corresponding sub code and the cable connection of AXA board connector CN02.(Refer to Appendixes 2-1 and 3-1.)



Alarm?NoYes

Alarm?NoYes




Alarm?NoYes

Sub code is [1].



Alarm?NoYes


Replace the CPU rack, and initialize the NX100 system configuration.(Refer to Appendix 3-1.)



The alarm occurs.

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AL-0060COMMUNICATION ERROR (I/O MODULE): [I/O Module Slot No.]The NX100 previously stores the connected I/O modules, and check the presence of each module on a startup. This alarm occurs if there is any module of which presence cannot be identified. Sub Code: Slot No. of I/O Module

0: NIO01/NIO02 (I/O board)

01 to 15: Serial-bus-connected I/O module

16 to 17: PCI-connected I/O module



Alarm?NoYes

Sub code is [0]. Sub code is any of the numbers from [1] to [15].



Check the insert status of NIF unit, and reconfigure the I/O module.(Refer to Appendix 3-1.)

Replace the NIO board, andreconfigure the I/O module.(Refer to Appendix 3-1.)


Replace the CPU rack, and initialize the NX100 system configuration. (Refer to Appendix 3-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes







Check the connections of the cable of NIF unit connector CN03 and terminator. (Refer to Appendix 2-1 and 3-1.)

Check the rotary switch setting whichspecifies slot numbers of each I/O module.

Check the insert status of NIF unit, and reconfigure the I/O module. (Refer to Appendix 3-1.)For the details of reconfiguration, refer to the relevant instructionsfor the object IO module.

Replace the I/O module of corresponding slot number. (Refer to Appendix 3-1.)


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Check if the I/O module of corresponding slot number isproperly inserted in correct slot.(Refer to Appendix 3-1.)

Replace the I/O module of corresponding slot number.(Refer to Appendix 3-1.)

The alarm occurs.

Reconfigure the I/O module.For the details of reconfiguration, refer to the relevant instructionsfor the object IO module.

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AL-0100 / 0101 / 0102 / 0103COMMUNICATION ERROR (AXA#1 / #2 / #3 / #4): [Cause No.]The serial communications between NCP01 (the main CPU board) and AXA01/AXA02 (AXA board) in the NX100 is softwarily monitored by each board. This alarm occurs if NCP01 detects an error. The least significant digit of the alarm signifies the AXA board No. of serial communications; therefore, the station numbers of alarms 0100, 0101, 0102, and 0103 are respectively the 1st AXA board, 2nd AXA board, 3rd AXA board, and 4th AXA board. Sub Code: Error Cause Data No.

01: Counter value received from AXA01/AXA02 (AXA board) is invalid.

02: Counter value received from AXA01/AXA02 (AXIA board) is off by one cycle.



Alarm?NoYes

Check the AXA board configuration setting of the corresponding alarm No.

NoYes


Alarm?NoYes

Check and reconfigure the AXA board rotary switch setting of the corresponding alarm No. (Refer to Appendix 3-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Alarm?NoYes

Check the insertion of the AXA board of the corresponding alarm No. and the cable connection of AXA board connector CN02.(Refer to Appendix 2-1 and 3-1.)

Replace the AXA board of the corresponding alarm No. (Refer to Appendix 3-1.)


Contact your Yaskawa representative.End of correctivemeasures


The alarm occurs.

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AL-0200MEMORY ERROR (PARAMETER FILE): [Internal File No.]The NX100 requires various types of parameters to operate, and performs a check sum during the startup process to ensure that the parameter files are properly retained. This alarm occurs if the NX100 detects an error in the check sum.

Sub Code: File No. Managed in NX100

00: RC parameter 08: AP parameter

01: RO parameter 09: RS parameter

02: SV parameter 10: SE parameter

03: SVM parameter 11: SVC parameter

04: SC parameter 12: AMC parameter

05: SD parameter 13: SVP parameter

06: CIO parameter 14: MF parameter

07: FD parameter 15: SVS parameter



Alarm?NoYes

Initialize the parameters in Maintenance Mode.

Alarm?NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes



Set the parameters according to the parameter table on the inner surface of the NX100 door.

Alarm?NoYes


The alarm occurs.

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AL-0210MEMORY ERROR (SYSTEM CONFIG-DATA): [0]The NX100 carries the information to start as a system in the SYSTEM CONFIG-DATA file, and performs a check sum during the startup process to ensure that these files are properly retained. This alarm occurs if the NX100 detects an error in the check sum. Sub Code: 0



Alarm?NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes


Contact your Yaskawa representative. End of correctivemeasures

The alarm occurs.

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AL-0220MEMORY ERROR (JOB MNG DATA): [Cause No.]The NX100 carries the user program as data files called JOB, and performs a check sum during the startup process to ensure that these files are properly retained. This alarm occurs if the NX100 detects an error in the check sum.Sub Code: Error Cause Data No.

00: Error occurred during the sum check of the JOB management area

01: Error occurred during the sum check of the JOB data.

02: Error occurred during the sum check of the position data (including position variables).

03: Error occurred during the sum check of the memory play file.



Alarm?NoYes

Sub code is any of the numbers from [0] to [2]. Sub code is [3].

Initialize the JOBs in Maintenance Mode.



Alarm?NoYes


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Initialize the memory play file in Maintenance Mode.


Alarm?NoYes





Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


The alarm occurs.

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AL-0230MEMORY ERROR (LADDER PRG FILE): [0]A program software PLC which runs in the NX100 is stored in the ladder program file. The NX100 per-forms a check sum during the startup process to ensure that these files are properly retained. This alarm occurs if the NX100 detects an error in the check sum. Sub Code: 0



Alarm?NoYes

Initialize the ladder program in Maintenance Mode.

Alarm?NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes



The alarm occurs.

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AL-0240

MEMORY ERROR (Device Net allollcation FILE): [File No.]The communicatin setting of the Device Net needs to be recorded when Device Net board is used as a communication master.The file with these records are called the Device Net alloca-tion file.It is possible to check if this Device Net allocation file is correct by the check sum when turning on the power supply. This alarm occurs if this file is found to be uncorrect.

Sub Code: File No. of DeviceNet allollcation0: Device Net allocation file 1

1: Device Net allocation file 2



Alarm?NoYes

The objective Device Net board is XFB 01.

The objective Device Net board is PCI.

Alarm?NoYes

Reset the "IO module" / Device Net allocation in Maintenance Mode.


NoYes

Check the "Option board" and "IO module" settings of the objective Device Net board in Maintenance Mode.

The alarm occurs.

Check the settings of the objective Device Net allocation file.

NoYesThe setting is

correct.

Check the "IO module"settings of the objective Device Net board in Maintenance Mode.

NoYesThe setting is

correct.


YesThe setting is

correct.


Alarm?NoYes



Alarm?No

Replace the NCP01 board including CompactFlash and initialize in maintainance mode.(Refer to Appendix 3-1.)

Alarm?NoYes

No

Yes

Replace the NIF unit and initialize in the maintenance mode.(Refer to Appendix 3-1.)

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AL-0270

MEMORY ERROR (CF backup FILE): [File No.]To operate the NX properly, the settings of each file (backup file) that is remained even after turning OFF the NX power supply is needed.Part of the backup files are stored in the Compact Flash in NCP 01 board.By retrieving these backup files stored in the Compact Flash correctly when turning on the power supply, you can check the correctness of the backup file in the compact flash.This alarm occurs if this file is found to be uncorrect.Sub Code: File No. of back up file in NX

Initialize in Maintainance Mode

The alarm occurs.



Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



Replace the NIF unit, and initialize in the maintenance mode.(Refer to Appendix 3-1.)

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AL-0300VERIFY ERROR (SYSTEM CONFIG-DATA): [Cause No.]The NX100 carries the information to start as a system in data files called "System Configuration Data", and performs a validity check on the data files if they are properly configured. This alarm occurs if the NX100 detects an error in the validity check. Sub Code: Error Cause Data No.

02: CIO parameter error.

04: Axis-related parameter error.

05: Sensor-use parameter error.

08: IO type error (combination impossible to coexist).



Alarm?NoYes

Sub code is [2] or [8]. Sub code is [4]. Sub code is [5].

Reconfigure the I/O module in Maintenance Mode.






Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes Alarm?

NoYes



The alarm occurs.

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AL-0310VERIFY ERROR (CMOS MEMORY SIZE): [0]The NX100 verifies that the NIF board type (CMOS memory size) which is detected during the startup is the same as the type set at the time of system configuration. This alarm occurs if the NX100 detects an error in the verification process.Sub Code: 0



Alarm?NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes



The alarm occurs.

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AL-0320VERIFY ERROR (I/O MODULE): [I/O board Slot No.]The NX100 verifies that the I/O module which is detected during the startup is the same as the module set at the time of system configuration. This alarm occurs if the NX100 detects an error in the verification pro-cess. Sub Code: Slot No. of I/O Module

01 to 15: I/O module connected to serial bus.

16 to 17: I/O module connected to the PCI bus.



Alarm?NoYes





Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Check if the I/O module of corresponding slot number isproperly inserted in correct slot.(Refer to Appendix 3-1.)

Reconfigure the I/O module.For the details of reconfiguration, refer to the relevant instructionsfor the object IO module.

Replace the I/O module of corresponding slot number.(Refer to Appendix 3-1.)



Check the connections of the cable of NIF unit connector CN03 and terminator. (Refer to Appendix 2-1 and 3-1.)

Check the rotary switch setting which specifies slot numbers of each I/O module.

Replace the I/O module of corresponding slot number. (Refer to Appendix 3-1.)


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

The alarm occurs.

Check the insertion of NIF unit, and reconfigure the I/O module. (Refer to Appendix 3-1.)For the details of reconfiguration, refer to the relevant instructionsfor the object IO module.

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AL-0330VERIFY ERROR (APPLICATION)The NX100 verifies that the application parameters are correctly set during a startup process. This alarm occurs if the NX100 detects an error in the verification process.Sub code: 0



Alarm?NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes



The alarm occurs.

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AL-0350

VERIFY ERROR (Device Net allollcation FILE): [File No.]The communicatin setting of the Device Net needs to be recorded when Device Net board is used as a communication master.The file with the record is called the Device Net allocation file.Check the correctness of this Device Net allocation file when turning on the power supply. This alarm occurs if this file is found to be uncorrect.

Sub Code: File No. of DeviceNet allocation0: Device Net allocation file 1






The alarm occurs.



Alarm?NoYes


NoYesThe setting is

correct.








Alarm?NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes


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AL-0390VERIFY ERROR (SEGMENT CLOCK)The NX100 system uses a reference cycle called segment clock to control operation.This alarm occurs if an incorrect value is set to this segment clock.The segment clock is set with a parameter when the control group is set up.Sub Code: None



Alarm?NoYes

Check the insertion of NIF unit andthe cable connection of NIF unitconnector CN01.(Refer to Appendix 2-1 and 3-1.)

Alarm?NoYes

Alarm?NoYes



The alarm occurs.

Check the AXA board configuration setting.

NoYesReconfigure the control axis in Maintenance Mode.

Alarm?NoYes


162074-1CD

AL-0400PARAMETER TRANSMISSION ERROR: [CPU Board]The parameters required for the AXA board operation is transferred from the NCP01 board. This alarm occurs if the parameters are not successfully transferred. Sub Code: CPU Board No.







Alarm?NoYes


NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Alarm?NoYes






The alarm occurs.

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AL-0410MODE CHANGE ERROR: [CPU Board]The NX100 changes its operation modes during a startup process from the power-on operation until the startup process completion. Since mode change is required for the peripheral CPU boards as well as the main CPU board, the NX100 simultaneously performs a process as the mode change process. This alarm occurs if the mode change is not successfully performed. Sub Code: CPU Board No.







Alarm?NoYes


NoYes


Alarm?NoYes


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Alarm?NoYes






The alarm occurs.

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AL-0420

DEVICE NET ALLOCATION FILE TRANSMISSION ERROR: [FILE No.]The communication setting of the Device Net needs to be recorded when Device Net board is used as a communication master.The file with the record is called the Device Net allocation file.The Device Net allocation file is transmitted when turning on the power supply. This alarm occurs if this file is found to be incorrect.

Sub Code: File No. of Device Net allocation0: Device Net allocation file 1



Contact your Yaskawa representative. End of correctivemeasures.

The alarm occurs.











Alarm?NoYes

NoYes


NoYes


Alarm?NoYes




Replace the NCP01 board including Compact Flash and initialize in maintenance mode.(Refer to Appendix 3-1.)

Alarm?NoYes

Alarm?NoYes

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AL-0500SEGMENT PROC NOT READYTo properly operate the manipulator, it is required to complete the processing of operation instructions within the specified time. This alarm occurs if the processing of operation instructions is not completed within the specified time. Sub Code: None



Alarm?NoYes



Alarm?NoYes

Alarm?NoYes


Check the value set for segment processing time.

NoYes

Reconfigure the correct segment processing time.

Alarm?NoYes


The alarm occurs.

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AL-0520AXIS LIMIT OVERIn NX100, the maximum number of axes that can be controlled across the system is fixed.This alarm occurs if the specified number of axes exceeds this upper limit.Sub Code: None



Alarm?NoYes

Check the AXA board configuration setting.

NoYes

Check and reconfigure the AXA board rotary switch setting. (Refer to Appendix 3-1.)

Alarm?NoYes

Alarm?NoYes

Check the insertion of the AXA board and the cable connection of AXA board connector CN02.(Refer to Appendix 2-1 and 3-1.)

Alarm?NoYes


Alarm?NoYes

Replace the AXA board. (Refer to Appendix 3-1.)

Alarm?NoYes




Alarm?NoYes



The alarm occurs.

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AL-0710LADDER INITIALIZE ERRORThe ladder program was not initialized.Sub Code: None



The alarm occurs.


Replace the NCP01 board including Compact Flash. (Refer to Appendix 3-1.)

Initialize the ladder program file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



162074-1CD

AL-0720

LADDER PROGRAM ERRORThis alarm occurs if the relay number specification is wrong.

Sub Code: 1



The alarm occurs.




Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



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AL-0800FILE BACKUP ERROR (NCP01 CF)[FILE NO.]The NX100 saves a part of data needed for system operations on the Compact Flash in the NCP01 board.When the data is changed, the new data is written in the on the Compact Flash.This alarm occurs if the this writing is correctly done.Sub Code: File No. of back up file in NX



The alarm occurs.

Alarm?Yes NoInitialize the NX100 system configuration in Maintenance Mode.

Alarm? No



Replace the NCP01 board including CompactFlash and initialize the NX 100 system configuration in Maintenance Mode.(Refer to Appendix 3-1.)

Yes

Alarm?NoYes


Alarm?NoYes

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AL-0801FILE LOAD ERROR (NCP01 CF)[FILE NO.]The NX100 saves a part of data needed for system operations on the Compact Flash in the NCP01 board.When the data is changed, the new data is written in the on the Compact Flash.This alarm occurs if the this writing is correctly done.Sub Code: File No. of back up file in NX



The alarm occurs.


Alarm? No




Yes

Alarm?NoYes


Alarm?NoYes

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AL-0802FILE I/O ERROR (NCP01 CF)[INTERNAL ERROR NO.]The NX100 saves a part of data needed for system operations on the Compact Flash in the NCP01 board. This alarm occurs if it cannot access to the NCP01correctly.Usually, AL-0800 and AL-0801 couure simultaneously.Sub Code: The number of the NX100 internal error code to the Compact Flash



The alarm occurs.


Alarm? No




Yes

Alarm?NoYes


Alarm?NoYes

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AL-0803FILE ERRORThe NX100 new software controls the detailed data of robot or motor at the extra file called [MECHA.ROM]. This alarm occurs if this file cannot be read correctly.Sub Code: None



The alarm occurs.

Upgrade the system again.


Replace the NCP01 board including Compact Flash.(Refer to Appendix 3-1.)

Did the error occur right after the software update?

Yes No

Right after the update?

Conduct the same upgrading.

YesAlarm?Yes

Alarm?Yes No

Alarm?Yes No

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AL-0900WATCHDOG TIMER ERROR (NIF BOARD)The NX100 can safely stop the system with a watchdog function when an error occurred. This alarm occurs if a watchdog timeout is detected in the NIF board. Sub Code: None



Alarm?NoYes

Alarm?NoYes



Alarm?NoYes


The alarm occurs.

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AL-0910CPU ERROR (NCP01): [100]The NX100 can safely stop the system even in case of an unexpected processing occurred in any board. This alarm occurs if there is an unexpected processing in NCP01 (the main CPU board). Sub Code: 100

The alarm occurs.



Alarm?NoYes


Alarm?NoYes


Alarm?NoYes


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AL-0920

BUS ERROR (NCP01)The NX100 uses the interruption signals which was lit by the internal IC as the standard signal of the system operation.It alarms when this interruption signal is not appropriately input.

Sub Code: The type of the board is output0: NCP01 board

Alarm?NoYes

Initialize in the Maintenance Mode.


NoYes

Replace the NCP01 board including Compact Flash and initialize in the Maintenance Mode.(Refer to Appendix 3-1.)



Alarm?NoYes


Alarm?NoYes

Replace the and initialize in the Maintenance Mode.(Refer to Appendix 3-1.)

The alarm occurs.

Alarm?

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AL-0930CPU HANG UP ERROR (NCP01)The NX100 can safely stop the system even when the power supply voltage suddenly drops. This alarm occurs if a voltage drop is detected in NCP01 (the main CPU board). Sub Code: None

The alarm occurs.



Alarm?NoYes


Alarm?NoYes


Alarm?NoYes


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AL-0950 / 0951 / 0952 / 0953CPU ERROR (AXA#*): [100]The NX100 can safely stop the system even when the power supply voltage suddenly drops. This alarm occurs if a voltage drop is detected in NCP01 (the main CPU board). The least significant digit of the alarm signifies the AXA board No. of serial communicationsAlarm

Sub Code: 100

0950: 1st AXA board

0951: 2nd AXA board

0952: 3rd AXA board

0953: 4th AXA board

Alarm?NoYes

Check the insertion of the AXA board of the corresponding alarm No. and the cable connection of AXA board connector CN02.(Refer to Appendix 2-1 and 3-1.)


Alarm?NoYes

Replace the AXA board of the corresponding alarm No. (Refer to Appendix 3-1.)



Alarm?NoYes


Alarm?NoYes


The alarm occurs.

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AL-1001ROM ERROR (AXA01)This alarm is caused by faulty data in ROM. A hardware error in the board is considered as a major cause of this alarm. In rare cases, however, the cause is attributed to a loose connection or noise interference. Sub Code

1*: EEPROM checksum error (*: axis No.)

20: EEPROM WRITE ENABLE error

21: EEPROM WRITE PROTECT error

22: EEPROM ERASE error

23: EEPROM CLEAR error

24: EEPROM writing error

25: EEPROM reading error

26: EEPROM verify error


Alarm?NoYes

Remove and reinsert the AXA01 board.(Refer to Appendix 3-1.)

Alarm?NoYes

Failure in the AXA01 board is suspected.

Replace the AXA01 board.(Refer to Appendix 3-1.)

Alarm?NoYes

Board connectionfailure.


The AXA01 board failure.

The alarm occurs.

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AL-1030MEMORY ERROR (PARAMETER FILE)This alarm occurs when an error is detected during total check of parameters.For a general error recovery, start the NX100 in Maintenance Mode and initialize the parameter file which caused the memory error, then reload the parameter file stored in an external storage device.As another possibility, this alarm may have been caused by a failure in CompactFlash card or memory error in the NCP01 board. In this case, replace the NCP01 board.Sub Code

00: RCD, RCxG parameter error 08: A1P parameter error

01: ROxG parameter error 09: RS parameter error

02: SVD, SVxG parameter error 10: S1E parameter error

03: SVMxG parameter error 11: SVxB parameter error

04: S1CxG, S2C, S3C, S4C parameter error 12: AMCxG parameter error

05: S1D, S2D, S3D, S4D parameter error 13: SVPxG parameter error

06: CIO parameter error 14: MFxG parameter error

07: FD parameter error 15: SVxS parameter error


Memory error in the parameter file; reset the NX100 by turning OFF and ON the power.

Alarm?NoYes

Start the NX100 in Maintenance Mode, and initialize the parameter file caused the memory error.

Alarm?NoYes

Recover the parameter file by reloading the parameter file stored in an external storage device.

Failure in the NCP01 board is suspected.

Replace the NCP01 board.(Refer to Appendix 3-1.)

Alarm?NoYes


The alarm occurs.

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AL-1031MEMORY ERROR (MOTION1): [File No. in CMOS]This alarm occurs when an error is detected in the CMOS files used by MOTION. For a general error recovery, start the NX100 in Maintenance Mode and initialize the file which caused the memory error, then reload the file stored in an external storage device.As another possibility, this alarm may have been caused by a failure in CompactFlash card or memory error in the NCP01 board. In this case, replace the NCP01 board.Sub Code

01: Home position calibration file 40: Gun pressure file02: Tool file 41: Dry-spotting gun pressure file03: User coordinates file 42: Anticipation OT# output file04: Robot calibration file 43: Anticipation OG# output file05: Tool calibration file 44: Handling condition file06: Weaving amplitude condition file 45: Form cut file07: Home position correction data file 46: Spot (user) I/O allocation file08: Conveyor calibration file 47: Linear servo float condition file09: Arm and tool interference prevention file 48: Macro definition file20: Weaving file 49: Seal amount correction condition file (spray)21: Power Source condition data file 50: Seal amount correction condition file (undercoat)22: Welding condition auxiliary file 51: Arc monitor file23: Arc start condition file 52: Motor-gun condition auxiliary file24: Arc end condition file 53: Job registration table25: COMARC condition file 54: Painting device condition file26: COMARC data file 55: Painting system file27: Path correction condition file 56: Painting condition file28: Painting characteristics file 57: Paint characteristics file29: Painting condition file 58: EVB gun file30: Multi-layer index file 59: Paint filling file31: Multi-layer condition file 60: Welding pulse condition file32: Sensor monitoring condition file 61: Clearance file33: Name position file 62: Linear scale condition file34: Conveyor condition file 63: Gauging sensor condition file35: Press characteristics file 64: Conveyor condition auxiliary file36: Servo float condition file37: Spot welding Power Source condition data file38: Air-gun condition file39: Motor-gun condition file

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Memory error in the condition file; Reset the NX100 by turning OFF and ON the power.

Alarm?NoYes

Start the NX100 in Maintenance Mode, and initialize the file which caused the memory error.

Alarm?NoYes

Recover the file by reloading the parameter file stored in an external storage device.


Replace the NCP01 board. (Refer to Appendix 3-1.)

Alarm?NoYes


The alarm occurs.

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AL-1050SET-UP PROCESS ERROR (SYSCON): [Cause No.]The system software monitors if the setup of MOTION software is properly complete when the power is ON.This alarm occurs if the MOTION software fails to properly complete the setup.Note that the alarm AL-1051 (SETUP INITIALIZE ERROR (MOTION)) occurs in conjunction with this alarm.(For details, refer to AL-1051.)Sub Code: Error Cause Data No.

01: Incomplete setup of MOTION

02: Online error



Alarm?NoYes



Alarm?NoYes


The alarm occurs.

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AL-1051SETUP INITIALIZE ERROR (MOTION)This alarm occurs if setup process of MOTION is not properly complete when the power is ON.Sub Code: Error Cause Data No.

01: Unable to properly activate the servo control

02: The position data of when the power supply was turned OFF cannot be transmitted to the servo control section

03: The servo control section cannot receive the position data of when the power supply was turned OFF

05: Unable to send a request to turn ON the PG power supply for the mounted axis

06: Unable to turn ON the PG power supply for the mounted axis

07: Unable to send a request to prepare a feedback pulse

08: Unable to prepare a feedback pulse

09: Unable to send a request to initialize the arithmetic section (ARITH)

10: Unable to initialize ARITH

11: Unable to send a request to prepare the current position

12: Unable to prepare the current position



Alarm?NoYes







Alarm?NoYes

Alarm?NoYes





The alarm occurs.

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AL-1100SYSTEM ERRORThis alarm is likely to be caused by failure in the system software, and it occurs when an alarm unregistered in the system software is detected.As another possibility, noise interference causes RAM data failure in the NCP01 board, leading to this alarm.Sub Code

AL-1101SYSTEM ERROR (SYSTEM 1)This alarm is likely to be caused by failure in the system software. The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-1102SYSTEM ERROR (SYSTEM 2)This alarm is likely to be caused by failure in the system software. The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

C: * B: * F: *: Unregistered sub code (*: numbers)

0 to 6: Internal control error in software


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AL-1103SYSTEM ERROR (EVENT)This alarm is likely to be caused by failure in the system software. The RAM data failure in the NCP01 board may also cause this alarm.Sub Code




Alarm?NoYes


Restore the version.

Alarm?NoYes

The alarm occurs.

NoYes

Check in what circumstance the alarm occurred.

Occurred immediately afterthe software

update.

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AL-1104SYSTEM ERROR (CIO)As a cause of this alarm, I/O module or CIO parameter setting error is suspected.The alarm condition may be recovered by reconfiguring the I/O module in Maintenance Mode.As another possibility, the alarm may have been caused by a failure in CompactFlash card or memory error in the NCP01 board. In this case, replace the NCP01 board. Sub Code

1000_0000: I/O module setting error



Alarm?NoYes



Turn OFF the power to the controller.

Check the connections of: -CN03 connector (for communications) and--CN11 connector (for power supply) of the NIF01 board; and -Connectors/cables for communications/power supply of the expanded I/O board.(Refer to Appendix 2-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Start the NX100 in Maintenance Mode, and set the I/O module.


Replace the NCP01 board. (Refer to Appendix 3-1.)

The alarm occurs.

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AL-1105SYSTEM ERROR (SERVO)This alarm is caused by noise and control error. Contact your Yaskawa representative if the error persists even after restarting the NX100. (For each sub code, refer to "NX100 MAINTENANCE MAN-UAL (RE-CHO-A104)".


Alarm?NoYes

Remove and reinsert the AXA01 board.(Refer to Appendix 3-1.)

Alarm?NoYes



Alarm?NoYes


Board connectionfailure.


The AXA01 board failure.

The alarm occurs.

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AL-1200HIGH TEMPERATUREThis alarm occurs by high temperature inside the controller (CPS power supply unit), which is possibly caused by cooling fan error. If the error is due to the fan for power supply, the alarm occurs 10 minutes after turning on the power.If the error is due to the other fans, the alarm AL-4119 may occur. AL-4119 FAN ERROR (IN CONTROL BOX) puts out a signal #50017 to activate the alarm 10 hours after the fan malfunction. Sub Code: None

Alarm?NoYes



Check if fan for power supply in the NX100 is OFF while the NX100 is ON.

NoYesThe fan is OFF.

Turn OFF the NX100 power.

Replace the fan for power supply in the NX100.

Check if the other fans in the NX100 are OFF while the NX100 is ON.

NoYesThe fans are OFF.


Replace the fans in the NX100.

Alarm?NoYes



The alarm occurs.

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AL-1204COMMUNICATION ERROR (IO MODULE)As a cause of this alarm, I/O board communication error, loose connection of power connector, or I/O module setting error is suspected.The alarm condition may be recovered by reconfiguring the I/O module in Maintenance Mode.As another possibility, the alarm may have been caused by a failure in CompactFlash card or memory error in the NCP01 board. In this case, replace the controller unit. Sub Code

0000_0000_0000_0001: NIF board communication error

0000_0000_0000_0010: Communication error in expanded I/O board station 1


…




Check the connections of: -CN03 connector (for communications) and--CN11 connector (for power supply) of the NIF01 board; and -Connectors/cables for communications/power supply of the expanded I/O board.(Refer to Appendix 2-1.)

Alarm?NoYes

External circuit error is suspected.


Check the external circuit, andturn ON the NX100 power.

Alarm?NoYes

The alarm occurs.

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AL-1207BROKEN B_ON RELAY FUSE (NIF01)This alarm occurs due to malfunction or blown fuse caused when electrical noise from the power supply interferes in the BROKEN B_ON RELAY FUSE detection circuit in the NIF01 board. Since the fuse is mounted to the NIF01 board, replace the controller unit if the alarm is caused by a blown fuse.Sub Code

AL-1208BROKEN S_ON RELAY FUSE (NIF01)This alarm occurs due to malfunction or blown fuse caused when electrical noise from the power supply interferes in the BROKEN S_ON RELAY FUSE detection circuit in the NIF01 board. Since the fuse is mounted to the NIF01 board, replace the controller unit if the alarm is caused by a blown fuse.Sub Code

AL-1209EXTERNAL WDT BROKEN (NIF01)This alarm occurs due to malfunction or failure caused when electrical noise from the power supply interferes in the EXTERNAL WDT BROKEN detection circuit in the NIF01 board. Replace the NIF01 board in case of failure.Sub Code

AL-1210COMMUNICATION ERROR (PLDs) (NIF01)This alarm occurs due to malfunction or failure caused when electrical noise from the power supply interferes in the SERIAL COMMUNICATION TOGGLE CHECK ERROR detection circuit in the NIF01 board. Replace the NIF01 board in case of failure.Sub Code

0000_0001: Error detected in PLD circuit 1


0000_0011: Error detected in PLD circuits 1 and 2










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Alarm?NoYes

Alarm?NoYes


Failure in the NIF01 board is suspected.

Replace the NIF01 board, and initialize the NX100 system configuration.(Refer to Appendix 3-1.)

The alarm occurs.

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AL-1211SAFE CIRCUIT INPUT FAULT (NIF01)This alarm occurs if the user wiring of the signal corresponding to the sub code is false, or if there is a malfunction/failure caused by noise from the power supply in the NIF01 board. If the sub code is not on the following list, malfunction/failure by noise from the power supply in the NIF01 board is suspected.If the alarm is due to failure in the NIF01 board, replace the controller unit.Sub Code: Error Cause Data No.

0000_0000_0000_0001: PBESP signal

0000_0000_0000_0010: PPESP signal

0000_0000_0000_0100: EXESP signal

0000_0000_0000_1000: ERRCPU signal

0000_0000_0001_0000: SYSRDY signal

0000_0000_0010_0000: SAF_F signal

0000_0000_1000_0000: EXSVON signal

0000_0010_0000_0000: MAINTE signal

0000_0100_0000_0000: DSW signal

0000_1000_0000_0000: EXDSW signal

0100_0000_0000_0000: SSP signal

1000_0000_0000_0000: FST signal


Alarm?NoYes


Check the wiring related to the signal that caused the alarm.(Refer to Appendix 2-1.)

Alarm?NoYes

Back up the CMOS data, and turn OFF the NX100 power.

Remove and reinsert the NIF board.(Refer to Appendix 3-1.)

Alarm?NoYes

Failure in the NIF board is suspected.


Replace the NIF board, and initialize the NX100 system configuration.(Refer to Appendix 3-1.)

Alarm?NoYes


Connection failure

Connection failure

NIF board failure

The alarm occurs.

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AL-1212PLD MUTUAL MONITOR ERROR (NIF01)This alarm occurs due to malfunction or failure caused when electrical noise from the power supply interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board. In case of failure, replace the controller unit.Sub Code





Alarm?NoYes

Alarm?NoYes




The alarm occurs.

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AL-1213MUTUAL WDT ERROR (NIF01)If this alarm occurs in conjunction with AL-1211 (SAFE CIRCUIT INPUT FAULT (NIF01)), refer to the AL-1211 for troubleshooting.When this alarm occurs independently, malfunction or failure caused by noise from the power supply in the NIF01 board is suspected.In case of failure, replace the controller unit.Sub Code

AL-1214

PBESP RELAY STICKINGThis alarm occurs when the PBESP relay sticking detection circuit in the NIF01 board malfunctions due to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.Sub Code

AL-1215PPESP STICKINGThis alarm occurs when the PPESP relay sticking detection circuit in the NIF01 board malfunctions due to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.Sub Code

AL-1216EXESP STICKINGThis alarm occurs when the EXESP relay sticking detection circuit in the NIF01 board malfunctions due to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.Sub Code













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AL-1217S_ON RELAY STICKINGThis alarm occurs when the S_ON relay sticking detection circuit in the NIF01 board malfunctions due to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.Sub Code





Alarm?NoYes

Alarm?NoYes




The alarm occurs.

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AL-1218B_ON RELAY STICKINGThis alarm occurs when the B_ON relay sticking detection circuit in the NIF01 board malfunctions due to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.Sub Code

AL-1219ANOTHER PLD EXT WDT ERROR (NIF01)If this alarm occurs in conjunction with AL-1211(SAFE CIRCUIT INPUT FAULT (NIF01)), refer to the AL-1211 troubleshooting.When this alarm occurs independently, malfunction or failure caused by noise from the power supply in the NIF01 board is suspected.In case of failure, replace the controller unit.Sub Code








Alarm?NoYes

Alarm?NoYes




The alarm occurs.

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AL-1220LAN COMMUNICATION PARAMETER ERRORA parameter used by the Ethernet function contains an error. Specify a correct value.Sub Code: The type of the abnormal address is output

1: IP address (RS70 to RS73)

2: Subnet mask (RS74 to RS77)

3: Default gateway (RS70 to RS73)

4: Server (host) address (RS70 to RS73)


Check the setting value of each parameter and specify a correct value.

Alarm?NoYes


The alarm occurs.

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AL-1221ETHERNET INITIAL PROCESS ERRORThis alarm occurs if an error is detected at the initialization of the Ethernet function.Sub Code: The type of the abnormal process is output

1: Ethernet device setting

2: IP address setting

3: Subnet mask setting

4: Default gateway setting


Check the setting value of each parameter, and then reset the NX100 by turning OFF and ON the power.

Alarm?NoYes


Alarm?NoYes


The alarm occurs.

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AL-1223MONITOR PLD ERROR 1 (NIF01)This alarm occurs due to malfunction or failure caused when electrical noise from the power supply interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board. In case of failure, replace the NIF01 board.Sub Code





Alarm?NoYes

Alarm?NoYes




The alarm occurs.

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AL-1224MONITOR PLD ERROR 2 (NIF01)If this alarm occurs in conjunction with AL-1211 (SAFE CIRCUIT INPUT FAULT (NIF01)), refer to the AL-1211 troubleshooting.When this alarm occurs independently, malfunction or failure caused by noise from the power supply in the NIF01 board is suspected.In case of failure, replace the controller unit.Sub Code







Alarm?NoYes

NoYesAL-1211 occurred

simultaneously.

Check if AL-1211 occurred in conjunction with this alarm.

Refer to the AL-1211 for troubleshooting.

Alarm?NoYes


The alarm occurs.

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AL-1225MONITOR PLD ERROR 3 (NIF01)This alarm occurs due to malfunction or failure caused when electrical noise from the power supply is in the external WDT broken detection circuit in the NIF01 board. In case of failure, replace the NIF01 board.Sub Code





Alarm?NoYes

Alarm?NoYes




The alarm occurs.

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AL-1300SERVO CPU SYNCHRONIZING ERRORThe NX100 system performs serial communications between the main CPU board and the servo con-trol board (AXA01), checking the synchronization of the servo regular process and the communication process. This alarm occurs if any synchronization error is detected.As a major cause of this alarm, a hardware error in the servo control board is suspected. In rare cases, however, the cause is attributed to a loose connection, noise interference, or internal data inconsis-tency.Sub Code: None


Alarm?NoYes


Check the connections (removal and reinsertion) of the following connectors: AXA01-CN02. NIF01-CN01.(Refer to Appendix 2-1.)

Alarm?NoYes


Remove and reinsert the AXA01 board. (Refer to Appendix 3-1.)

Alarm?NoYes



Alarm?NoYes


AXA01 board connection failure

Connector connection failure

AXA01 board failure


The alarm occurs.

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AL-1301COMMUNICATION ERROR (SERVO)This alarm occurs if there is a communication error between the robot interface board (NIF01) and the servo control board (AXA01).As a major cause of this alarm, a loose connection is suspected. In rare cases, however, the cause is attributed to a noise interference, defective board/cable, or internal data inconsistency. Sub Code

0: Communication status error

1: Watchdog timer error

2: JL040 alarm

3: Communication status error

4: Data consistency error


Alarm?NoYes



Check the connections (removal and reinsertion) of the following connectors: AXA01-CN02. NIF01-CN01.(Refer to Appendix 2-1.)

Alarm?NoYes



Alarm?NoYes



Alarm?NoYes


Replace the NIF01 unit, and initialize the NX100 system configuration.(Refer to Appendix 3-1.)

Alarm?NoYes

Connection failure

Connection failure

AXA01 board failure

NIF01 unit failure


The alarm occurs.

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AL-1302COMMUNICATION ERROR (SERVO I/O)This alarm occurs if there is a communication error between the servo control board (AXA01) and the power-on unit (NTU01).As a major cause of this alarm, a loose connection is suspected. In rare cases, however, the cause is attributed to a noise interference, defective board/cable, or internal data inconsistency. Sub Code

1: Communication loop back **10: Communication loop back (**: AXA board number of the connected unit)

2: No interrupt **11: Address matching error

4: Watchdog timer error **12: Servo I/O communication buffer error (**: AXA board number of the connected unit)5: Command timeout


Alarm?NoYes



Check the connections (removal and reinsertion) of the following connectors: AXA01-CN03. NTU01-CN01/CN02.(Refer to Appendix 2-1 and 4-1.)

Alarm?NoYes


Check the connections (removal and reinsertion) of the following connectors: NBB01(backboard)-CNTU. NTU01-CN03.(Refer to Appendix 2-1 and 4-1.)

Alarm?NoYes



Alarm?NoYes



Alarm?NoYes


Replace the NIF01 (or NTU02) unit, and initialize the NX100 system configuration. (Refer to Appendix 4-1.)

Alarm?NoYes

Connection failure

Connection failure

Connection failure

AXA01 board failure

NIF01 unit failure


The alarm occurs.

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AL-1303ARITHMETIC ERROR (SERVO)This alarm occurs if a control-related parameter calculated from the input parameter (tool file) is not within the specified range.


The tool file settings might be inappropriate.


Alarm?NoYes

Reexamine the tool file setting.(Check the units of mass and center of gravity, positive/negative signs.)

Tool file setting error

The alarm occurs.

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AL-1304EX-AXIS BOARD NOT INSTALLEDThis alarm occurs during operation if the external axis board which has not been installed is assigned, or if the board is defective. In rare cases, the cause is attributed to a loose connection or noise interference.Sub Code: None


Alarm?NoYes

Verify that the AXB01 board is installed.

NoThe AXB01 board is

installed.Yes


Install the AXB01 board.(Refer to Appendix 3-1.)

Alarm?NoYes


Check the cable connection betweenthe AXA01 board and AXB01 board.(Refer to Appendix 2-1.)

Alarm?NoYes

The alarm occurs.

Failure in the AXB01 board is suspected.


Replace the AXB01 board.(Refer to Appendix 3-1.)

Alarm?NoYes




Alarm?NoYes


Connection failure

AXB01 board failure

AXA01 board failure

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AL-1306AMPLIFIER TYPE MISMATCH: [Physical Axis Bit]When the controller power is ON, the NX100 system checks the current capacity of the SERVOPACK amplifier in the servo control circuit board (AXA01, AXB01). This alarm occurs if there is a difference in the capacity between the set value and the mounted amplifier.If the alarm occurs during operation, a parameter setting error or board failure is suspected. In rare cases, the cause is attributed to a loose connection or noise interference.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

The amplifier has been replaced.

Check if the amplifier has been replaced.


Alarm?NoYes

Check the replaced amplifier type and the parameter setting value.(Parameter : SVPxG232 and greater.)

Corerct?NoYes


Check the cable connections between AXA01, AXB01, and amplifier: AXA01-CN04. Amplifier-CN04, -CN05, -CN06.(Refer to Appendix 2-1.)

Alarm?NoYes

Failure in the amplifier is suspected.


Replace the amplifier.(Refer to Appendix 5-1 and 6-1.)

Alarm?NoYes

Failure in the circuit board AXA01 and/or AXB01 is suspected.


Replace the AXA01 and/or AXB01 board. (Refer to Appendix 3-1.)

Alarm?NoYes



Amplifier failure

AXA01/AXB01 board failure

Amplifier selection error

No Yes

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AL-1307ENCODER TYPE MISMATCH: [Physical Axis Bit]When the controller power is ON, the NX100 system checks the encoder type of the manipulator in the servo control circuit board (AXA01, AXB01). This alarm occurs if there is a difference between the set value and the mounted encoder.Since the proper encoder has been configured before shipment, an encoder error is suspected as the cause of this alarm occurred during operation. If the encoder has been replaced, type mismatch is sus-pected.In rare cases, the cause is attributed to a loose connection, defective board, or noise interference.The NX100 system identifies the 16-bit and 17-bit serial encoder types; the resolutions of absolute encod-ers of which motor types are SGM-A1A and SGM-A2A are respectively 16 bits and 17 bits.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes

The motor has been replaced.No Yes

Check if the motor has been replaced.

Check the encoder type. (The motor type before and after the replacement.)

Alarm?NoYes


Check the cable connections between AXA01, AXB01, and encoder: AXA01-CN07 AXB01-CN08 10 EV1SV-CN1,2(Refer to Appendix 2-1.)

Alarm?NoYes

Failure in the encoder is suspected.


Replace the motor of the subject axis.

Alarm?NoYes


Alarm?NoYes



Encoder failure

Cableconnection failure

Mismatchedencoder type



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AL-1308CONVERTER TYPE MISMATCH: [Physical Converter Bit]When the controller power is ON, the NX100 system checks the converter type. This alarm occurs if there is a difference between the set value and the mounted converter type.If the alarm occurs during operation, a servo control board (AXA01, AXB01) or converter failure is sus-pected. In rare cases, the cause is attributed to a loose connection or noise interference.Sub Code: Signifies the converter in which the alarm occurred

The alarm occurs.


Alarm?NoYes

The converter has been replaced.No Yes

Check if the converter has been replaced. (Refer to Appendixes 5-1 and 6-1.)

Corerct?NoYes


Check the cable connections between AXA01, AXB01, and converter:(Refer to Appendix 2-1.)

Alarm?NoYes

Failure in the converter is suspected.


Replace the converter.(Refer to Appendix 5-1 and 6-1.)

Alarm?NoYes


Alarm?NoYes



Converter failure

Cable connection failure

Converter selection error



Check the replaced hardware and the converter capacity parameter.(Parameter : SVCxB060 and greater.)

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AL-1309HARDWARE ERROR (CONVERTER): [Physical Converter Bit]

AL-1310CHARGE ERROR (CONVERTER): [Physical Converter Bit]

AL-1311A/D DETECTION ERROR (CONVERTER): [Physical Converter Bit]

AL-1312ID ERROR (CONVERTER): [Physical Converter Bit]The NX100 system checks internal state of converter in the converter board.This alarm occurs if any malfunction is found.As a major cause of this alarm, converter defect is suspected.Sub Code: Signifies the converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Check if the converter alarm isindicated by the illuminated red LED when the servo power is ON.

Red LED is illuminated.No Yes




Alarm?NoYes Converter failure


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AL-1321BRAKE BOARD ERRORThis alarm occurs if an error is detected in the brake circuit board.The alarm cause is attributed to a connection error of cable, or defective brake circuit board/power-on unit (NTU01)/brake.

The alarm occurs.



Brake failure



Check the cable connections betweenAXA01, AXB01, brake circuit board, power-on unit (NTU01), and brake:- DKB01-CN1, CN2, CN3


Check for disconnection or short-circuiting of the brake.

Brake circuit board failure is suspected.

Power-on unit (1GS) failure is suspected.

Brake failure is suspected.


Replace the brake.


Replace the power-on unit (1GS).

Brake circuit board failure

Replace the brake.

Power-on unit failure

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Replace the brake circuit board.

Alarm?NoYes

Alarm?NoYes

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AL-1322BRAKE BOARD STICKINGThis alarm occurs if sticking/melting is detected at the brake circuit board.Replace the brake relay (CRBRK1, 2).

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AL-1325COMMUNICATION ERROR (ENCODER)The NX100 system performs serial communications between controller and encoder. This alarm occurs if the system fails to establish the communications.If the alarm occurs during operation, a communications disconnection due to a connection error of encoder cable is suspected. In rare cases, the cause is attributed to a noise interference, encoder mal-function, or defective servo control board(AXA01, AXB01).Sub Code: Signifies the axis in which the alarm occurred

Cable failure

Encoder failure

The alarm occurs.

Examine which axis caused the alarm.

Which axis?External axisRobot axis


Alarm?NoYes


Check the cable connection betweenAXA01-CN07 and encoder. (Refer to Appendix 2-1.)

Alarm?NoYes



Alarm?NoYes

Encoder failure is suspected.


Replace the defective motor (encoder).

Alarm?NoYes

Failure in the AXA01 board is suspected. Turn OFF the NX100 power.

Replace the AXA01 board.(Refer to Appendix 3-1.) Alarm?

NoYes

Encoder cable disconnection is suspected.


Replace the encoder cable.

Alarm?NoYes


Board connection failure


AXA01 board failure

Continued on the next page.

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AL-1325COMMUNICATION ERROR (ENCODER)

Continued from the previous page.


Alarm?NoYes


Check the cable connections between AXB01 board and encoder: AXB-CN08. EV1SV-CNP2, -CN01, -CN02.(Refer to Appendix 2-1.)

Alarm?NoYes


Remove and reinsert the AXB01 board. (Refer to Appendix 3-1.)

Alarm?NoYes




Alarm?NoYes




Alarm?NoYes


Encoder failure



AXB01 board failure

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AL-1326DEFECTIVE ENCODER ABSOLUTE DATAWhen the controller power is ON, the NX100 system checks the encoder data. This alarm occurs if the encoder data exceeds the set value.Under normal operating condition, the internal data does not exceed the set value; therefore, if the alarm occurs during operation, encoder error is suspected as an alarm cause. In rare cases, the cause is attributed to a loose connection, servo control board (AXA01, AXB01) defect, or noise interference.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes


Check the cable connections betweenthe AXA01 board, AXB01 board, and encoder. AXA01-CN07 AXB01-CN8-10 EV1SV-CN1, -CN2(Refer to Appendix 2-1.)

Alarm?NoYes


Remove and reinsert the AXA01 and AXB01 boards. (Refer to Appendix 3-1.)

Alarm?NoYes




Alarm?NoYes


Alarm?NoYes

Encoder failure

Boardconnection failure


AXA01/AXB01board failure




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AL-1327ENCODER OVER SPEEDWhen the controller power is ON, the NX100 system checks the encoder data. This alarm occurs if any axis moves (i.e. falls by its own weight), or an encoder rotation speed of 400 rpm or more is detected during the power-ON process. A loose connection or encoder error is suspected if the alarm occurs when the manipulator is in halt condition.Sub Code: Signifies the axis in which the alarm occurred


The alarm occurs.

Has any axis moved?

Check if any axis moves when the SERVO ON process.

No Yes

Check if the axis is equipped with a brake.

Brake equippedaxis? NoYes


Alarm?NoYes




Alarm?NoYes


Encoder failure

Alarm?NoYes

Turn OFF the servo power at the position where the axis does not move.

Check the cable connections betweenthe AXA01 board, AXB01 board, and encoder. AXA01-CN07 AXB01-CN8-10 EV1SV-CN1,-CN2(Refer to Appendix 2-1.)

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AL-1328DEFECTIVE SERIAL ENCODERThe NX100 system performs serial communications between controller and encoder. This alarm occurs if there is an error in the internal data of the encoder.If the alarm occurs during operation, a connection error of peripheral cable or a defective encoder is suspected. In rare cases, the alarm cause is attributed to a noise interference or defective servo control board (AXA01, AXB01).Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes


Alarm?NoYes


Remove and reinsert the boardsAXA01 and AXB01. (Refer to Appendix 3-1.)

Alarm?NoYes




Alarm?NoYes


Alarm?NoYes


Encoder failure







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AL-1329CANNOT EXECUTE SERIAL ENCODER COMMANDThe NX100 system performs serial communications between controller and encoder. This alarm occurs if the operation in response to the encoder command is a malfunction.If the alarm occurs during operation, a connection error of peripheral cable or a defective encoder is suspected. In rare cases, the alarm cause is attributed to a noise interference or defective servo control board (AXA01, AXB01).Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes


Alarm?NoYes


Remove and reinsert the boardsAXA01 and AXB01. (Refer to Appendix 3-1.)

Alarm?NoYes




Alarm?NoYes


Alarm?NoYes


Encoder failure







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AL-1330MICRO PROGRAM TRANSMIT ERRORWhen the NX100 power is ON, the SERVO software transfers a microprogram which controls an elec-tric current to JL056 (the current-limiting LSI). This alarm occurs if any inconsistency is found in verifica-tion performed after the transfer. The cause for the alarm is a defective servo control board (AXA01,AXB01).Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes

Failure in the AXA01 board and AXB01 board is suspected.



Alarm?NoYes



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AL-1331CONVERTER CHARGE ERR (CONVERTER)This alarm occurs if charge error is sent from the converter.The primary power may have been decreased.

In rare cases, the alarm cause is defective converter or defective power-ON unit (NTU01).


Alarm?NoYes

The alarm occurs.

Check if the primary power has not been decreased.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Replace the converter.(Refer to Appendix 5-1.)

Replace the NTU01.(Refer to Appendix 4-1.)


Decrease of primary power

Converter failure

NTU01 failure

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AL-1335INCOMPLETE ENCODER RESETThis alarm occurs when reset operation to recover from the encoder backup error did not complete.As a cause of the alarm, a defective battery line (poor connection, voltage reduction) is suspected.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.



Single or multiple axes?

Examine how many axes were involved in the alarm.

Single axis Multiple axes

Loose connection or disconnection of the encoder battery line inside the manipulator is suspected.


Check if the encoder battery line connectors inside the manipulator are properly connected.

Alarm?NoYes

Failure in the battery is suspected.


Replace the battery inside the manipulator.

Alarm?NoYes


Check for disconnection of the encoder battery line inside the manipulator.

Disconnected?No Yes

Replace the encoder battery line.

Alarm?NoYes

Poor connection in the battery system orreduced battery power is suspected.


Check the battery connection of the voltage converter board of manipulator.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes










AXA01 board failure

Encoder failure

Batteryconnection failureBattery

connection failure

Battery failure

Cable failure

Go to B

Go to C

Flow Chart A

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AL-1335INCOMPLETE ENCODER RESET

Flow Chart B

AContinued from

Poor connection of the encoder battery line for external axis, or reduced battery power is suspected.






Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Check the battery voltage of external axis.

Check for disconnection of the external axis encoder battery line.

Check if the connectors of the external axis encoder battery line are properly connected.

Disconnected?No Yes




Encoder failure




AXB01 board failure

Connection failure

Battery failure

Cable disconnection

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Flow Chart C

AContinued from










Alarm?NoYes



Alarm?NoYes


Disconnected?No Yes


Alarm?NoYes

Alarm?NoYes Connection failure

Battery failure

Cable disconnection

Connection failure

End of correctivemeasuresGo to D

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Flow Chart D

CContinued from



Alarm?NoYes

Alarm?NoYes





Encoder failure


AXA01 board failure

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AL-1343COMMUNICATION ERROR (CONVERTER)The NX100 system performs serial communications between the servo control board and the con-verter. This alarm occurs if there is an error in the serial communications.As a major cause of this alarm, a loose connection or defective converter is suspected. In rare cases, however, the cause is attributed to a noise interference or defective servo control board (AXA01, AXB01).Sub Code

*01: Communication status error (*: converter No.) *04: CRC-16 error (*: converter No.)

*02: Command timeout (*: converter No.) *05: Error code received (*: converter No.)

*03: Sent buffer FULL (*: converter No.) *06: Received command error (*: converter No.)


Alarm?NoYes

The alarm occurs.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



Check the connections (removal and reinsertion) of the following connectors: AXA01-CN01. AXB01-CN08. Converter-CN10. EX1SV-CNP2, -CN1.(Refer to Appendix 2-1, 5-1, and 6-1.)




Connectorconnection failure

Converter failure

AXA01 board failure


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AL-1345SAFETY CIRCUIT SIGNAL UNMATCH (SERVO): [XYY]This alarm occurs if unmatched signal is detected in the double-check of the receive data to the power-ON unit.

Servo NO.: SV#X (Signifies the alarm occurrence servo in the multi-robot system)

Sub Code: XYY (Signifies the power-ON unit No. and unmatched signal No.)

The above signals are connected to CN06 and CN07 on the NTU unit.Other signals are internal signals.ex.) Servo No.: SV#1, Sub Code: 208

Unmatched EXOT signal error in the power-ON unit 2 (TU#2) connected to servo 1

X: Servo No. (AXA01 board rotary SW)

1: Servo 1 (AXA01 board rotary SW is "0")




X: Power-ON unit

1: Power-ON unit1 (TU#1)






YY: Unmatched signal

01: KMMA signal unmatched error 12: TCER signal unmatched error

02: SVMAIN signal unmatched error 13: SON_OUT signal unmatched error

03: SVMAIN1/2 signal unmatched error 14: BRRVER signal unmatched error

04: IORDY signal unmatched error

05: ONEN signal unmatched error 60: Error due to unmatched output signal for servo board failure

06: FUCUT signal unmatched error 61: Error due to unmatched signal for the main contactor state (closed contact)

07: SHOCK1 signal unmatched error 62: Error due to unmatched signal for the main contactor state (open contact)

08: EXOT signal unmatched error 63: Error due to unmatched input signal for the main contractor control relay

09: OT signal unmatched error 64: Error due to unmatched input signal for the OT recovery

10: TUSONER signal unmatched error 65: Error due to unmatched input signal for the external WDT

11: SVCMPER signal unmatched error 66: Error due to unmatched 1FB input signal: the brake release control signal

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Alarm?NoYes

The alarm occurs.

Alarm?NoYes

Alarm?NoYes

Check the signals related with the unmatched signal.If this is an internal signal, check the contact of connector connected to the NTU unit.(Refer to Appendix 4-1.)

Check the contact of TU hot line connector (CNTU) (CNRO) (CNRI).(Refer to Appendix 3-1.)

Alarm?NoYes


Alarm?NoYes




NTU01 failure

AXA01board failure


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AL-1349POWER LOST DETECTION (AXA01/02)The primary power may be insufficient.Check the voltage of primary power.

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AL-1352SERIAL ENCODER CORRECTION ERRORThe NX100 system controls the manipulator based on the position data from encoder. If a communica-tion error occurs in a control cycle, the system controls the manipulator in accordance with the previous position data checking the compensation data. This alarm occurs if the compensation data is not within the specified value.If the alarm occurs during operation, defect in the encoder is suspected as a cause. In rare cases, the alarm cause is attributed to a loose connection, defective servo control board (AXA01, AXB01), or noise interference.

Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes


Alarm?NoYes

Encoder cable disconnection is suspected.




Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Replace the encoder cable.




Encoder failure







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AL-1355SERIAL ENC MULTITURN LIMIT ERRWhen the controller power is ON, the NX100 system checks the encoder multi-turn quantity. This alarm occurs if the multi-turn quantity data is not within the normal range.If the alarm occurs during operation, defect in the encoder is suspected as a cause. In rare cases, the alarm cause is attributed to a loose connection, defective servo control board (AXA01, AXB01), or noise interference.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes


Alarm?NoYes



Alarm?NoYes

Alarm?NoYes




Encoder failure






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AL-1500SAFETY CIRCUIT FAULT (SERVO I/O)This alarm occurs if PLD internal mutual monitoring error is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1501

SVMX RELAY STICKING (SERVO I/O)This alarm occurs if SVMX relay sticking is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1502CONTACTOR STICKING (SERVO I/O)This alarm occurs if contactor sticking is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

162074-1CD

AL-1503SAFETY CIRCUIT IN FAULT(SV I/O)This alarm occurs if input comparison error is sent from the TU circuit board.Sub Code: None

The alarm occurs.


Alarm?NoYes


TU circuit board failure is suspected.

Alarm?NoYes

Replace the TU circuit board. (Refer to Appendix 4-1.)


Connection failure

TU circuit board failure

101

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102

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AL-1504TUSON RELAY STICKING (SERVO I/O)This alarm occurs if TUSON relay breakdown is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

The alarm occurs.


Alarm?NoYes


NTU01 failure is suspected.

Alarm?NoYes

Replace the NTU01. (Refer to Appendix 4-1.)


NTU01 failure

103

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AL-1505BROKEN B_ON FUSE (SERVO I/O)This alarm occurs if B_ON relay fuse breakdown is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1506

BROKEN CONTACTOR FUSE (SERVO I/O)This alarm occurs if main contactor relay fuse breakdown is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1507BROKEN S_ON FUSE (SERVO I/O)This alarm occurs if S_ON relay fuse breakdown is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1508

SAFETY CIRCUIT WDT ERROR (SV I/O)This alarm occurs if mutual WDT error is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1509EXTERNAL WDT OVER (SERVO I/O)This alarm occurs if external WDT over is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

104

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AL-1510EXTERNAL WDT BROKEN (SERVO I/O)This alarm occurs if external WDT breakdown is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

105

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AL-1511COMMUNICATION ERR(PLDs) (SERVO I/O)This alarm occurs if serial communication toggle check error is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

The alarm occurs.


Alarm?NoYes

Alarm?NoYes



NTU01 failure

106

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AL-1512POWER SUPPLY FAN ERROR (SERVO)This alarm occurs if the rotation speed of in-panel cooling fan decreased.As a cause of the alarm, a loose connection is suspected.As a cause of the alarm, the defective CPS power supply unit is suspected.Sub Code: None


Check the cooling fan in the CPSpower unit is rotating.

The fan is working.Yes No

Check the LED(FAN) on the surface of the CPS power unit.

Lighting?Yes No

Alarm? Yes No

Turn the power OFF then back ON.

Alarm? Yes No

Replace the CPS power unit.(Refer to Appendix 3-1.)

Alarm?Yes No

CPS broken


The alarm occurs.

Check the power supply cable of the cooling fan in the CPS power unit and turn the power OFF then back ON.

107

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AL-1513POWER SUPPLY OVERHEAT (SERVO)This alarm occurs if the temperature sensor in the CPS power unit is activated.It seems that the internal temperature of CPS power unit has risen due to a defective CPS cooling fan or some other reason.Sub Code: None

The alarm occurs.


Lighting?Yes No

Turn the power OFF then back ON after cooling the controller.

Alarm?Yes No

Check the power supply cable of the cooling fan in the CPS power unit and turn the power OFF then back ON.

Alarm?Yes No

Replace the CPS power unit.(Refer to Appendix 3-1.)

Alarm?Yes Yes

CPS broken

The temperature rises in the controller

Check the LED(FAN) on the surface of the CPS power unit.

108

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AL-1514OVERHEAT (AMPLIFIER)This alarm occurs if the temperature sensor in the servo amp is activated.It seems that the temperature of servo amp has risen due to a defective cooling fan or some other rea-son.Sub Code: Signifies the axis in which the alarm occurred.


Alarm?NoYes

The alarm occurs.

Check that the fan on the rear side of the controller is rotating.

Alarm?NoYes

Check that the inlet and outlet of controller are not blocked.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Check the cable connectionsbetween the AXA01 board, AXB01 board, and converter. AXA01-CN01� AXB01-CN8-10� Converter-CN1� EV1SV-CN1(Refer to Appendix 2-1.)



Converter failure







Cooling error

Cooling fan error

109

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AL-1515SON_OUT RELAY STICKING (SERVO)This alarm occurs if SON_OUT relay sticking is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1516

BRRCER RELAY STICKING (SERVO I/O)This alarm occurs if BRRCER relay sticking is sent from the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

The alarm occurs.


Alarm?NoYes


NTU01 failure is suspected.

Alarm?NoYes



NTU01 failure

110

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AL-1547CURRENT FEEDBACK ERRORThis error occurs if an excessive current flows through the motor.A ground fault of motor power line, a poor connector connection, or a defective motor is suspected.This alarm occurs if a defective amplifier or defective servo control board (AXA01, AXB01).Sub Code: Signifies the axis in which the alarm occurred.

The alarm occurs.

Check if a ground fault, short circuit and disconnection has occurred in the power line.


Alarm?

Is it Error?

NoYes

Alarm?NoYes


Replace the motor.

Alarm?NoYes


Failure in the motor is suspected.


Replace the amplifier.(Refer to Appendix 5-1 and 6-1.)

Alarm?NoYes

Failure in the AXA01 and/or AXB01 board is suspected.


Replace the AXA01 and/or AXB01�board. (Refer to Appendix 3-1.)

Alarm?NoYes



Amplifier failure

Motor failure


No Yes Power line error

Check the cable connectionsbetween the AXA01 board, AXB01 board, and amplifier.(Refer to Appendix 2-1.) AXA01-CN04-06� AXB01-CN8-10 Amplifier-CN1� EV1SV-CN1

111

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AL-1592MONITOR PLD ERROR 1 (SERVO I/O)This alarm occurs if external WDT failure was detected in the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1593

MONITOR PLD ERROR 2 (SERVO I/O)This alarm occurs if external WDT over was detected in the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

AL-1594MONITOR PLD ERROR 3 (SERVO I/O)This alarm occurs if mutual WDT error was detected in the power-ON unit (NTU01).The alarm cause is attributed to a defective power-ON unit (NTU01).(1) Reset the alarm.(2) If the alarm occurs again, replace the power-ON unit (NTU01).Sub Code: Signifies the power-ON unit (NTU01) number in which the alarm occurred.

112

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AL-4000MEMORY ERROR (TOOL FILE)An error was detected at memory check.The memory for the tool file is damaged.Sub Code: Signifies the tool number in which the alarm occurred.


Contact your Yaskawa representative.End of corrective measures


The alarm occurs.



Replace the NIF unit and initialize the NX100 system configuration. (Refer to Appendix 3-1.)

Initialize the tool file in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

113

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HW0483057

AL-4001MEMORY ERROR (USER COORD FILE)An error was detected at memory check.The memory for the user code file is damaged.Sub Code: Signifies the user coordinate number in which the alarm occurred.




The alarm occurs.




Initialize the user code file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm? NoYes

114

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HW0483057

AL-4002MEMORY ERROR (SV MON SIGNAL FILE)An error was detected at memory check.The memory for the servo monitor signal file is damaged.Sub Code: None




The alarm occurs.




Initialize the servo monitor signal file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

115

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HW0483057

AL-4003MEMORY ERROR (WEAVING FILE)An error was detected at memory check.The memory for the weaving condition file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the weaving condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

116

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HW0483057

AL-4004MEMORY ERROR (HOME POS FILE)An error was detected at memory check.The memory for the home positioning file is damaged.Sub Code: None




The alarm occurs.




Initialize the home positioning file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

117

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HW0483057

AL-4005MEMORY ERROR (SECOND HOME POS FILE)An error was detected at memory check.The memory for the second home positioning file is damaged.Sub Code: None




The alarm occurs.




Initialize the second home positioning file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

118

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HW0483057

AL-4006MEMORY ERROR (POWER SOURCE COND)An error was detected at memory check.The memory for the arc welding Power Source condition file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the arc welding Power Source condition file in Maintenance ModeMode. Alarm?

NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

119

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HW0483057

AL-4007

MEMORY ERROR (ARC START COND FILE)An error was detected at memory check.The memory for the arc start condition file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the arc start conditionfile in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

120

162074-1CD

HW0483057

AL-4008

MEMORY ERROR (ARC END COND FILE)An error was detected at memory check.The memory for the arc end condition file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the arc end conditionfile in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

121

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HW0483057

AL-4009MEMORY ERROR (ARC AUX COND FILE)An error was detected at memory check.The memory for the arc auxiliary condition file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the arc auxiliary condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

122

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HW0483057

AL-4010MEMORY ERROR (COM-ARC COND FILE)An error was detected at memory check.The memory for COM-ARC condition file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the COM-ARCcondition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

123

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HW0483057

AL-4012MEMORY ERROR (LINK SERVOFLOAT FILE)An error was detected at memory check.The memory for the link servo float condition file is damaged.Sub Code: Signifies the condition file number in which the alarm occurred.




The alarm occurs.




Initialize the link servo floatcondition file in maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

124

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HW0483057

AL-4013MEMORY ERROR (LINEAR SERVOFLOAT FILE)An error was detected at memory check.The memory for the linear servo float condition file is damaged.Sub Code: Signifies the condition file number in which the alarm occurred.




The alarm occurs.




Initialize the linear servo floatcondition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

125

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HW0483057

AL-4014MEMORY ERROR (ROBOT CALIB FILE)An error was detected at memory check.The memory for the file for calibration between manipulators is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the calibration between the manipulators file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

126

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HW0483057

AL-4017MEMORY ERROR (POWER SRC USER FILE)An error was detected at memory check.The memory for the power source characteristics user definition file is damaged.Sub Code: None




The alarm occurs.




Initialize the Power Source characteristics user definition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

127

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HW0483057

AL-4018MEMORY ERROR (LADDER PRG FILE)An error was detected at memory check.The memory for the ladder program file is damaged.Sub Code: None




The alarm occurs.





Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

128

162074-1CD

HW0483057

AL-4019MEMORY ERROR (CUTTING COND FILE)An error was detected at memory check.The memory for the user coordinates file is damaged.Sub Code: Signifies the page number in which the alarm occurred.




The alarm occurs.




Initialize the cutting condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

129

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HW0483057

AL-4020MEMORY ERROR (OPERATION ORIGIN)An error was detected at memory check.The memory for the work home position file is damaged.Sub Code: None




The alarm occurs.




Initialize the work home position file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

130

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HW0483057

AL-4021MEMORY ERROR (CONVEYOR COND FILE)An error was detected at memory check.The memory for the conveyor condition file is damaged.Sub Code: None




The alarm occurs.




Initialize the conveyor condition file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

131

162074-1CD

HW0483057

AL-4024MEMORY ERROR (WRIST WEAV AMP FILE)An error was detected at memory check.The memory for the wrist weaving amplitude file is damaged.Sub Code: None




The alarm occurs.




Initialize the wrist weaving amplitude file in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

132

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HW0483057

AL-4025MEMORY ERROR (INTERRUPT JOB FILE)An error was detected at memory check.The memory for the interrupt job file is damaged.Sub Code: None




The alarm occurs.




Initialize the interrupt job file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

133

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HW0483057

AL-4028MEMORY ERROR (SENSOR MON COND FILE)An error was detected at memory check.The memory for the sensor monitoring condition file is damaged.Sub Code: None




The alarm occurs.




Initialize the sensor monitoring condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

134

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HW0483057

AL-4031MEMORY ERROR (GUN COND FILE)An error was detected at memory check.The memory for the spot welding gun condition file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the spot welding gun condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

135

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HW0483057

AL-4032MEMORY ERROR (SPOT WELD COND FILE)An error was detected at memory check.The memory for the spot welding gun condition file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the spot welding Power Source condition file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

162074-1CD

AL-4033MEMORY ERROR (GUN PRESSURE FILE)An error was detected at memory check.The memory for the gun pressure file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the gun pressure file in Maintenance Mode.

Alarm?No

Yes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

136

HW0483057

162074-1CD

AL-4034MEMORY ERROR (ANTICIPATION OT FILE)An error was detected at memory check.The memory for the anticipation outputs (OT) file is damaged.Sub Code: None




The alarm occurs.




Initialize the anticipation outputs OT file in Maintenance Mode.

Alarm?No

Yes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

137

HW0483057

162074-1CD

AL-4035MEMORY ERROR (ANTICIPATION OG FILE)An error was detected at memory check.The memory for the anticipation outputs (OG) file is damaged.Sub Code: None




The alarm occurs.




Initialize the Anticipation outputs OG file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

138

HW0483057

162074-1CD

AL-4036MEMORY ERROR (WEARING FILE)An error was detected at memory check.The memory for the wear amount file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the wear amount file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

139

HW0483057

162074-1CD

AL-4037MEMORY ERROR (FULL-SHORT POSITION STROKE FILE)An error was detected at memory check.The memory for the FULL/SHORT OPEN position file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the FULL/SHORT OPEN position setting file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

140

HW0483057

162074-1CD

AL-4038MEMORY ERROR (PRESSURE FILE)An error was detected at memory check.The memory for the dry-spotting pressure file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the dry-spotting file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

141

HW0483057

162074-1CD

AL-4039MEMORY ERROR (FORM CUT FILE)An error was detected at memory check.The memory for the form cut file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the form cutfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

142

HW0483057

162074-1CD

AL-4040MEMORY ERROR (SHOCK LEVEL FILE)An error was detected at memory check.The memory for the shock level file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the shock levelfile in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

143

HW0483057

162074-1CD

AL-4041MEMORY ERROR (SPOT I/O ALLOCATE FL)An error was detected at memory check.The memory for the spot I/O allocation file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the spot I/O allocationfile in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm? NoYes

Alarm?NoYes

144

HW0483057

162074-1CD

AL-4042MEMORY ERROR (VISION FILE)An error was detected at memory check.The memory for the vision condition file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the vision condition file in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm? NoYes

Alarm?NoYes

145

HW0483057

162074-1CD

AL-4043MEMORY ERROR (VISION CALIBRATION)An error was detected at memory check.The memory for the vision calibration file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the vision calibrationfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

146

HW0483057

162074-1CD

AL-4044MEMORY ERROR (WELDING PULSE COND FILE)An error was detected at memory check.The memory for the welding pulse condition file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the welding pulse condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

147

HW0483057

162074-1CD

AL-4045MEMORY ERROR (WELDING PULSE SELECTION FILE)An error was detected at memory check.The memory for the welding pulse selection file is damaged.Sub Code: None




The alarm occurs.




Initialize the welding pulse selection file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

148

HW0483057

162074-1CD

AL-4046MEMORY ERROR (CONVEYOR CALIBRATION)An error was detected at memory check.The memory for the conveyor calibration file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the conveyor calibration file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

149

HW0483057

162074-1CD

AL-4047MEMORY ERROR (MACRO DEFINITION FILE)An error was detected at memory check.The memory for the macro definition file is damaged.Sub Code: None




The alarm occurs.




Initialize the macro definitionfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

150

HW0483057

162074-1CD

AL-4048MEMORY ERROR (SERVO S-GUN FILE)An error was detected at memory check.The memory for the sealer gun characteristics file is damaged.Sub Code: None




The alarm occurs.




Initialize the sealer gun characteristics file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

151

HW0483057

162074-1CD

AL-4049MEMORY ERROR (PASTE GUAN COMPENSATION FILE)An error was detected at memory check.The memory for the painting amount correction file is damaged.Sub Code: None




The alarm occurs.




Initialize the painting amount correction file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

152

HW0483057

162074-1CD

AL-4050MEMORY ERROR (AXIS I/O ALLOCATION FILE)An error was detected at memory check.The memory for the axis motion I/O allocation file is damaged.Sub Code: None




The alarm occurs.




Initialize the axis motion I/O allocation file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

153

HW0483057

162074-1CD

AL-4051MEMORY ERROR (GUN COND AUX FILE)An error was detected at memory check.The memory for the gun characteristics auxiliary file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the gun characteristics auxiliary file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

154

HW0483057

162074-1CD

AL-4052MEMORY ERROR (TOOL INTERFERENCE FILE)An error was detected at memory check.The memory for the tool interference file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the tool interference file in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

155

HW0483057

162074-1CD

AL-4053MEMORY ERROR (PAINTING SYSTEM CONFIGURATION FILE)An error was detected at memory check.The memory for the painting system setting file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Initialize the painting system setting file in Maintenance Mode.

156

HW0483057

162074-1CD

AL-4054MEMORY ERROR (PAINTING SPECIAL FILE)An error was detected at memory check.The memory for the painting system setting file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the painting device characteristics file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

157

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162074-1CD

AL-4055MEMORY ERROR (CCV-PAINT TABLE FILE)An error was detected at memory check.The memory for the painting CCV file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the painting CCVfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm? NoYes

Alarm?NoYes

158

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162074-1CD

AL-4056MEMORY ERROR (PLUG VOLUME FILE)An error was detected at memory check.The memory for the paint filling file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the painting fillingfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

159

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162074-1CD

AL-4057MEMORY ERROR (EVB GUN COND)An error was detected at memory check.The memory for the EVB gun file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the EVB gunfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

160

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162074-1CD

AL-4058MEMORY ERROR (EVB TURBINE COND FILE)An error was detected at memory check.The memory for the EVB turbine condition file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the EVB turbinefile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

161

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162074-1CD

AL-4059MEMORY ERROR (EVB PAINT COND FILE)An error was detected at memory check.The memory for the EVB paint condition file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the EVB paintfile in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

162

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162074-1CD

AL-4060MEMORY ERROR (CLEARANCE FILE)An error was detected at memory check.The memory for the clearance file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the clearance file in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

163

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162074-1CD

AL-4061MEMORY ERROR (GAGING SONSOR FILE)The memory for the gaging sensor file is damaged.An error was detected at memory check.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the gaging sensorfile in Maintenance Mode.

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

164

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162074-1CD

AL-4062MEMORY ERROR (LINEAR SCALE FILE)The memory for the linear scale condition file is damaged.An error was detected at memory check.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the linear scale condition file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

165

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162074-1CD

AL-4063MEMORY ERROR (CONVEYOR COND SUPP.)An error was detected at memory check.The memory for the conveyor condition auxiliary file is damaged.Sub Code: Signifies the file number in which the alarm occurred.




The alarm occurs.




Initialize the conveyor condition auxiliary file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

166

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162074-1CD

AL-4064MEMORY ERROR (WEAVING SYNCHRONIZING WELD FILE)An error was detected at memory check.The memory for the weaving synchronizing welding condition file is damaged.Sub Code: None




The alarm occurs.




Initialize the weaving synchronizing welding condition file in Maintenance Mode.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

167

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162074-1CD

AL-4065MEMORY ERROR (I/F PANEL FILE)An error was detected at memory check.The memory for the I/F panel file is damaged.Sub Code: None




The alarm occurs.




Initialize the I/F panel file in Maintenance Mode.

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

168

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162074-1CD

AL-4069MEMORY ERROR (PALLETIZING COND FILE)An error was detected at memory check.The memory for the palletizing condition file is damaged.Sub Code: None




The alarm occurs.




Initialize the palletizing conditionfile in Maintenance Mode.

Alarm?NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes

Alarm?NoYes

169

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162074-1CD

AL-4100OVERRUN (ROBOT AXIS)This alarm occurs if the manipulator overrun signal is detected.Since this overrun signal is short-circuited to disable the alarm before shipment, a cable disconnection or defective board is suspected as the alarm cause.Sub Code: Signifies the physical No. of contactor in which the alarm occurred

The alarm occurs.


Alarm?NoYes



Alarm?NoYes

Check the connection of: NTU-CN07. (Refer to Appendix 4-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Failure in the NTU01 or AXA01 board is suspected.


Replace NTU01. (Refer to Appendix 4-1.)

Replace the AXA01 board. (Refer to Appendix 3-1.)



AXA01 board failure


NTU01 failure

170

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AL-4101OVERRUN (EXTERNAL AXIS)This alarm occurs if the overrun signal of external axis is detected.Since this overrun signal is short-circuited to mask the alarm before shipment, a defective cable or board is suspected as the alarm cause.Sub Code: Signifies the physical No. of contactor in which the alarm occurred

The alarm occurs.


Alarm?NoYes



Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Failure in NTU01 or AXA01 board is suspected.






AXA01 board failure


NTU01 failure


171

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172

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AL-4102

SYSTEM DATA HAS BEEN CHANGEDThe NX100 detected that the servo power supply was turned ON after data (parameter) which affecting the system was changed.Turn the NX100 controller ON again.Sub Code: 1

AL-4103

PARALLEL START INSTRUCTION ERRORAn error was detected in the independent control startup operation.As a cause of the alarm, the operation timing or setting failure of sub task in the independent control function is suspected.Sub Code:

AL-4104

WRONG EXECUTION OF LOAD INSTAn error was detected when a load instruction (LOADV, LOADJ) was executed by the DCI function.* For details and countermeasures, refer to NX100 OPTIONS INSTRUCTIONS FOR DATA TRANS-MISSION FUNCTION(RE-CKI-A445).Sub Code:

AL-4105

WRONG EXECUTION OF SAVE INSTAn error was detected when a save instruction (SAVEV, SAVEJ) was executed by the DCI function.* For details and countermeasures, refer to NX100 OPTIONS INSTRUCTIONS FOR DATA TRANS-MISSION FUNCTION(RE-CKI-A445).Sub Code:

AL-4106

WRONG EXECUTION OF DELETE INSTAn error was detected when a delete instruction (DELETEJ) was executed by the DCI function.* For details and countermeasures, refer to NX100 OPTIONS INSTRUCTIONS FOR DATA TRANS-MISSION FUNCTION(RE-CKI-A445).Sub Code:

1: Sub task being executed

2: Group axis being used

3: Multiple start of same job

4: Unregistered master job

5: Synchronization instruction error

6: Stopped by an alarm

1 to 245: Codes that indicate the details of error.



162074-1CD

AL-4107

OUT OF RANGE (ABSO DATA)The position difference between when the power was turned OFF and when the power was turned ON again exceeded the tolerance at one axis in the manipulator or station.Move the manipulator or station to the zero position by the axis operation and check the home position alignment marks (the arrow).Sub Code: Signifies the axis in which the alarm occurred

AL-4109

DC 24V POWER SUPPLY FAILURE (I/O)The external 24v power for I/Os is not output.

Sub Code: 0000_0001: Fuse blown (NIF01unit)

0000_0011: External 24V power supply error.

The alarm occurs.

Alarm?Yes No


Check if the fuse of robot I/F unit (NIF) is not blown

Alarm?Yes No

Check the 24V external power supply

Alarm?Yes No

Check the communication cable for the I/O module

173

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AL-4110SHOCK SENSOR ACTIVATIONThis alarm occurs if the shock sensor signal is detected.Since this overrun signal is short-circuited to mask the alarm before shipment, a defective cable or board is suspected as the alarm cause.If the shock sensor connected to the robot is active, clear it by referring to the manual.If the shock sensor is not active, check the situation with the following procedure.Sub Code: None

The alarm occurs.


Alarm?NoYes



Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes







AXA01 board failure


NTU01 failure


174

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162074-1CD

AL-4111BRAKE FUSE BREAKDOWNThe NX100 system checks the brake output relay fuse of NTU01. This alarm occurs if the brake fuse blows out.As a cause of the alarm, loose connection or noise interference is suspected as well as failure in the NTU01 board.Sub Code: Signifies the physical No. of contactor in which the alarm occurred

The alarm occurs.


Alarm?NoYes


Alarm?NoYes

Check the connection of AXA-CN03 on the AXA01 board. (Refer to Appendix 2-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Connection failure

Connection failure

Connection failure

Connection failure

Board failure

Board failure




Check the connection of NTU-CN01 on the NTU01 board. (Refer to Appendix 4-1.)

Remove and reinsert the NTU01 board (Refer to Appendix 4-1.)

Remove and reinsert the AXA01 board (Refer to Appendix 3-1.)




175

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176

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AL-4112

DATA SENDING ERRORA sending error occurred during data transmission.Sub Code:

1: Retry over of NAK

2: Retry over for timeout in timer A

3: Retry over for mutual response error


Check the communication settings.

Alarm?

Connection failure

The alarm occurs.

NoYes

Check the communication wiring.

Alarm?NoYes

Setting failure

177

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AL-4113

DATA RECEIVING ERRORA receiving error occurred during data transmission.Sub Code:

1: Reception timeout (timer A)

2: Reception timeout (timer B)

3: Heading length is too short.

4: Heading length is too long.

5: The header No. error

6: The text length exceeded 256 characters.

7: Illegal data received.


Check the settings for data on the sender side.

(If the subcode is 3 through 7) Send the EOT code to clear data link.

Alarm?

Connection failure

The alarm occurs.

NoYes


Alarm?NoYes


Alarm?NoYes

Setting failure

Setting failure

178

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AL-4114

TRANSMISSION HARDWARE ERRORA hardware-related error occurred during data transmission.Sub Code:

1: Overrun error

2: Parity error

3: Framing error

4: Transmission timeout (timer A)

5: Transmission timeout (timer B)



Alarm?

Connection failure

The alarm occurs.

NoYes


Alarm?NoYes

Setting failure

179

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AL-4115

TRANSMISSION SYSTEM BLOCKAn error occurred during data transmission.(This alarm occurs when received data cause inconsistency on the system although the transmission protocol is correct. Mainly, this alarm occurs due to an illegal transmission or erroneous report at the data sending side.)Sub Code:

1: Received EOT while waiting ACK.

2: Received EOT while waiting ENQ.

3: Received EOT before last block reception.

4: Received codes other than EOT after last block reception.



Alarm?

The alarm occurs.

NoYes Setting failure

180

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AL-4116

TRANSMISSION SYSTEM ERRORAn error occurred during data transmission.Sub Code:

1: Sending data contents error

100: Trans error or protocol error


Alarm?

The alarm occurs.

NoYes


Alarm?NoYes

Setting failure

Setting failure


181

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AL-4117

BRAKE POWER ERROROne of the following errors occurred.

• The power for brake is not output.• An error occurred in control power supply (CPS-420F) due to ground fault or short circuit of the

brake wiring.• The fuse of optional unit (NBP) or brake release unit (NBU) is blown.

Sub Code: XY (Signifies the servo board No. and power-ON unit No.)X : Servo board No.

1: Servo board1 (SV#1)




Y : Power-ON unit No.








Verify the wiring of brake.

Alarm?

The alarm occurs.

NoYes

Verify the fuse of the option unit.If the fuse is blown, then replace the fuse.

Alarm?NoYes

182

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AL-4118

FAN CIRCUIT PROTECTOR TRIPPEDThe circuit protector of the in-panel cooling fan is tripped due to ground fault or short circuit of the in-panel cooling fan, or defective fan.Note: This alarm is displayed approximately one minute after the detection.Verify the wiring of in-panel cooling fan.If there is no defect in the wiring, replace the cooling fan since the fan may be defective.Sub Code: XY (Signifies the servo board No. and power-ON unit No.)

X : Servo board No.












162074-1CD

AL-4119FAN ERROR (IN CONTROL BOX): [XY]As a cause of this alarm, failure in cooling fan is suspected; AL-1200 occurs if the fan for power supply malfunctions, and if the other fan malfunctions, AL-4119 may occur. AL-4119 FAN ERROR (IN CONTROL BOX) puts out a signal #50017 to activate the alarm 10 hours after the fan malfunction. Related Alarm: AL-1200

AL-1514AL-4340

Sub Code: XY (Signifies the servo board No. and power-ON unit No.) X: Servo board Y: Power-ON unit

1: Servo board 1 (SV#1) 1: Power-ON unit1 (TU#1)






The alarm occurs.

Alarm?NoYes


Replace the fan for power supply in the NX100.

183

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184

162074-1CD

HW0483057

AL-4121

COOLING FAN1 ERRORThe rotation speed of the cooling fan 1 with the alarm sensor connected to the power-ON unit decreased.If the rotation speed of cooling fan 1 remains slow for 45 seconds, signal# 50017 is turned ON and the message, "Cooling fan 1 stopped," is displayed or the "AL-4121 COOLING FAN1 ERROR" occurs.As a cause of the alarm, a failure in the cooling fan 1 or wiring failure between the cooling fan 1 and the power-ON unit is suspected.Signal #50017: cooling fan error status outputSub Code: XY (Signifies the servo board No. and power-ON unit No.)

X : Servo board No.












185

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HW0483057

AL-4122


X : Servo board No.












186

162074-1CD

HW0483057

AL-4123


X : Servo board No.












187

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HW0483057

AL-4126

CANNOT EXECUTE AUTO PMTAn error occurred during automatic PMT.

Sub Code: Signifies the error type. Subcodes and remedys are shown below.Sub code Contents Remedy

1: System error (1) Reset the alarm, and then re-execute the job.(2) If the alarm occurs again, save CMOS.BIN in maintenance

mode, and then inform your Yaskawa representative of the occurrence status (operating procedure).

2: Editing PBOX is currently prohib-ited.

Check the input status of editing prohibition signal. Such a sig-nal cannot be input.

3: Editing the conversion source job is currently prohibited.

Check the editing prohibition status of the conversion source job. While editing of this job is prohibited, it cannot be edited.

4: Editing the conversion destination job is currently prohibited.

Check the editing prohibition status of the conversion destina-tion job. While editing of this job is prohibited, it cannot be edited.

5: Insufficient job area memory (1) Reset the alarm.(2) If this phenomenon occurs again, delete unused jobs.(3) If this phenomenon occurs again after the above counter-

measure is taken, initialize jobs in the maintenance mode and reload saved job. Delete unused jobs at this time.

(4) If this phenomenon occurs again after the above counter-measure is taken, save CMOS.BIN in the maintenance mode, and then inform your Yaskawa representative of the occurrence status (operating procedure).

6: There is no conversion source job. Check if the specified conversion source job exists. Non-exis-tent job cannot be specified as the conversion source job.

7: Position data memory insufficient (1) Reset the alarm.(2) If this phenomenon occurs again, delete unnecessary

teaching points, if any.(3) If this phenomenon occurs again after the above counter-

measure is taken, initialize jobs in the maintenance mode and reload saved job. Delete unused jobs at this time.

(4) If this phenomenon occurs again after the above counter-measure is taken, save CMOS.BIN in the maintenance mode, and then inform your Yaskawa representative of the occurrence status (operating procedure).

8: Conversion of currently executed job is specified.

Check the execution statuses of conversion source job and conversion destination job. A job currently executed has been specified as the conversion source job or conversion destina-tion job. Perform the conversion after the execution of the job is completed.

188

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AL-4130

NETWORK APPLICATION PROCESS ERRORAn error occurred while the Ethernet function was used.Sub Code: Signifies the error type

1: APP task re-initialization notification error

2: Re-initialization response receiving error

3: Abnormal termination of incomplete task of re-initialization

4: Synchronous semaphore for re-initialization receiving error

5: Re-initialization mail sending error

6: Area storage management table exclusion error

50: PCI written data size error

51: PCI data writing request reception error

52: Undefined transmission request received

53: Transmission request reception error

54: Transmission request without data received

55: Transmission request with illegal data length received



The alarm occurs.


Alarm?Yes No

189

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AL-4131

UDP PROCESS ERRORAn error occurred in the UDP process of the Ethernet function.Sub Code: Signifies the error type

1: Receiving socket creation error

2: Transmission socket creation error

3: Received data error

4: Transmission error

5: Abnormal termination of SELECT operation

100: Re-initialization notification data length error

101: Re-initialization notification data reception error

102: Abnormal termination of PCI writing

103: Transmission request data length error

104: Transmission request data reception error



The alarm occurs.


Alarm?Yes No

190

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AL-4132

TCP PROCESS ERRORAn error occurred in the TCP process of the Ethernet function.Sub Code: Signifies the error type

1: Socket cable creation error

2: TCP server initialization error



The alarm occurs.


Alarm?Yes No

191

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AL-4137

WRONG EXECUTION OF SETUALM INSTAn error occurred at SETUALM instruction execution.Sub Code: Signifies the error type. Subcodes and remedys are shown below.

Sub code Contents Remedy

1: Alarm code specification error Check the alarm code setting.Specify the alarm in the range 8000 to 8999.

2: Task specification error Check the task specification setting.Specify the task in the range 0 to 4 (7 at expansion).

3: Motion mode specification error Check the motion mode specification setting.Set the motion mode to 0 or 1.

162074-1CD

AL-4200SYSTEM ERROR (FILE DATA)This alarm occurs if abnormal internal data is detected during the access to file data.As a major cause of the alarm, system software malfunction is suspected; as another possibility, an inter-nal RAM data error also may cause the alarm.

Sub Code

AL-4201SYSTEM ERROR (JOB)This alarm occurs if abnormal internal data is detected during the access to the job data of MOTION.As a major cause of the alarm, system software malfunction is suspected; as another possibility, an inter-nal RAM data error also may cause the alarm.

Sub Code

AL-4202SYSTEM ERROR (JOB)This alarm occurs if abnormal internal data is detected during the access to the job data of operating/edit-ing software.As a major cause of the alarm, system software malfunction is suspected; as another possibility, an inter-nal RAM data error also may cause the alarm.

Sub Code

01 to 23: Signifies the internal software error

-1 to -63: Signifies the internal software error




Alarm?NoYes

The alarm occurs.

Restore the previous software version.

Alarm?NoYes




update.No Yes

192

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AL-4203SYSTEM ERROR (POSITION DATA)This alarm occurs if abnormal internal data is detected during the access to the position data of MOTION.As a major cause of the alarm, system software malfunction is suspected; as another possibility, an inter-nal RAM data error also may cause the alarm.

Sub Code

AL-4204SYSTEM ERROR (POSITION DATA)This alarm occurs if abnormal internal data is detected during the access to position data.As a major cause of the alarm, system software malfunction is suspected; as another possibility, an inter-nal RAM data error also may cause the alarm.

Sub Code





Alarm?NoYes

The alarm occurs.


Alarm?NoYes




update.No Yes

193

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194

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AL-4206

SYSTEM ERROR (TRANSMISSION)This alarm occurs if an error is detected during data transmission.The RAM data failure in the board may also cause this alarm.Sub Code:




Alarm?NoYes

The alarm occurs.


Alarm?NoYes




update.No Yes

195

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AL-4207SYSTEM ERROR (MOTION)This alarm occurs if an error is detected during MOTION processing.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4208SYSTEM ERROR (ARITH)This alarm occurs if an error is detected during ARITH processing.The RAM data failure in the NCP01 board may also cause this alarm.

Sub Code

AL-4209OFFLINE SYSTEM ERROR (ARITH)This alarm occurs if an error is detected during offline ARITH processing.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4210SYSTEM ERROR (LOCAL VARIABLE)This alarm occurs if abnormal internal data is detected during the access to the local variable of MOTION.The RAM data failure in the NCP01 board may also cause this alarm.

Sub Code

4207 to 4210





Check the operation after resetting the alarm.

The alarm occurs.


Check the operation after ON or OFF the power supply.

Alarm? NoYes

Alarm?NoYes

196

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HW0483057

AL-4220/4221

SERVO POWER OFF FOR JOBThe servo power is not supplied to the job control group axis to be operated.Sub Code: Signifies the servo power supply power-OFF control group

Turn OFF the servo power supply, and then turn ON the servo power supply for the group axis to be operated.

The alarm occurs.


Alarm?NoYes

197

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AL-4222

SAFETY CIRCUIT IMPUT FAULT (DSW)This alarm occurs if a dual signal is mutually checking with the result that Enable switch (DSW and EXDSW) I/O signal does not have a match signal as a result the mutual check of a dual signal.

Sub Code 0000_0001: DSW

0000_0011: EXDSW

The alarm occurs.

Confirm the error point by the sub code.

0000_0001DSW

0000_0010EXDSW

Replace the PP or PP cable.




Reset the alarm.

Check the connecting status of the EXDSW of the robot system input terminal block.



Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

198

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AL-4225

OVER SPEED (NCP01)The NX100 monitors the actual speed of motor with feedback pulses.The speed limit is the safe speed in the teach mode and the maximum speed in the play mode.This alarm occurs if the speed limit is exceeded.Sub Code: Signifies the control axis name where a speed error is detected



The alarm occurs.

Check that the motor could not operate at an unexpected speed due to an external force or gravity force.

Yes No

Replace the motor.

NoAlarm?Yes

Alarm?

Alarm?

Check that the power line or encoder line of motor is not loose or disconnected.

Yes NoAlarm?

Yes No


199

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AL-4228

WRONG DATAThe job saves the job instruction file and position file in the different files.This alarm occurs if it detects the inconsistency between the Job instruction and position file.The followings are the causes of the inconsistency.Cause 1: Single position data is chained by the plural Job instruction data. (Overlapped chain)Cause 2: Job instruction file chaines the unregistered position data. (Unregistered position data chain)Cause 3: Registered position data is not chained.(Unchained position data)*For details, refer to "NX100 OPTIONS INSTRUCTIONS FOR JOB DATA SIMPLIFIED RESTORATION FUNCTION (HW 0483260)"

AL-4229

ETHERNET PROCESS ERRORAn error occurred while the Ethernet function was used.Sub Code: None

AL-4230

DECELERATION MONITOR OVERFailed to stop the operation under the hold command.Sub Code: None



The alarm occurs.


Alarm?Yes No


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

162074-1CD

AL-4301CONTACTOR ERRORThe NX100 system checks the status of the NTU01 contactors. This alarm occurs if there is an inconsis-tency between the control output and contactor status.As a cause of the alarm, the NTU01 board failure or loose connection is suspected; in rare cases, the alarm may be caused by a noise interference.

Sub Code: Signifies the physical No. of contactor in which the alarm occurred

Before performing a connection check of the wiring, turn OFF the controller power. Make sure that all the LEDs of SERVOPACK and converter are OFF, then verify that no electricity is charged using equipment such as a tester.This process may take a few minutes after shutting off the power.

NOTE


Alarm?NoYes

The alarm occurs.

Check if the contactors (1KM and 2KM) are open, and not damaged by melting or sticking. (Refer to Appendix 4-1.)

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



Failure in the NTU01 board is suspected.

Replace the NTU01 board.(Refer to Appendix 4-1.)


Contactor damage

NTU01 board failure




200

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AL-4302BRAKE CIRCUIT ERRORThe NX100 system checks the brake status of NTU01. This alarm occurs if there is an inconsistency between the control output and brake status.As a cause of the alarm, the NTU01 failure is suspected.Sub Code: Signifies the physical No. of contactor in which the alarm occurred

Before performing a connection check of the wiring, turn OFF the controller power. Make sure that all the LEDs of SERVOPACK and converter are OFF, then verify that no electricity is charged using equipment such as a tester.This process may take a few minutes after shutting off the power.

NOTE


Alarm?NoYes

The alarm occurs.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



Failure in the NTU01 is suspected.

Replace the NTU01 board.(Refer to Appendix 4-1.)

AXA01 failure

Relay circuit failure

NTU01 failure


Check for damage in the relay circuit (K8, K14, K23) of the NTU01 board.


Replace the AXA01. (Refer to Appendix 3-1.)

201

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AL-4303CONVERTER READY SIGNAL ERRORThe NX100 system checks the converter status. This alarm occurs if the ready state signal of converter is not ON after a certain time period from SERVO ON.As a cause of the alarm, a failure in the NTU01, AXA01 or AXB01, or converter is suspected; as another possibility, a loose connection also may cause the alarm. In rare cases, the alarm may be caused by a noise interference.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Check the cable connections betweenthe AXA01, AXB01, and converter. AXA01-CN01� AXB01-CN8-10� Converter-CN1� EV1SV-CN1(Refer to Appendix 2-1, 5-1, 6-1.)

Alarm?NoYes

Check if the contactors 1KM and 2KM are ON.

The contactorsare ON. NoYes

Contactor damage


NTU01 failure

End of correctivemeasuresContact your Yaskawa representative.


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Turn OFF the NX100 power.Turn OFF the NX100 power.



Check if the contactors 1KM and 2KM are not damaged by melting or sticking. (Refer to Appendix 4-1.)

Failure in the NTU01 board is suspected.


Check if the CHARGE lamp illuminates when the servo power is ON.

The lampilluminates.No Yes

Converter failure is suspected.

Replace the converter.(Refer to Appendix 5-1, 6-1.)

Converter failure Failure in the AXA01 and/or AXB01board is suspected.

Replace the AXA01 and/or AXB01board. (Refer to Appendix 3-1.)

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AL-4304CONVERTER INPUT POWER ERRORThe NX100 system checks the converter status. This alarm occurs if the ready state signal of converter is not ON after a certain time period from SERVO ON.As a cause of the alarm, a failure in the NTU01, AXA01 or AXB01, or converter is suspected; as another possibility, a loose connection also may cause the alarm. In rare cases, the alarm may be caused by a noise interference.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Check if the contactors 1KM and 2KM are ON.

The contactorsare ON. NoYes

Alarm?NoYes

Alarm?NoYes


Check if the contactors 1KM and 2KM are not damaged by melting or sticking.



Check the connections betweenNTU01 and converter: NTU01-1X. EX1SV-CNP1.(Refer to Appendix 4-1, 6-1.)

Alarm?NoYes

Alarm?NoYes





Replace the converter.(Refer to Appendixes 5-1, 6-1.)


Contactor damage

NTU01 failure


Converter failure

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AL-4305CONVERTER CIRCUIT CHARGE ERRORThe NX100 system checks the charge status of converter. This alarm occurs if the ready state of con-verter is not achieved within a certain time period.As a cause of the alarm, a failure in the Converter1 board is suspected.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.


Alarm?NoYes






Replace the converter.(Refer to Appendixes 5-1, 6-1.)

Converter failure

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AL-4306AMPLIFIER READY SIGNAL ERRORThis alarm occurs is the amplifier READY signal is OFF while the servo power is turned ON. As a cause of the alarm, a failure in the servo control circuit board, converter, and/or amplifier is sus-pected.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Check the cables for control power of converter and amplifier. Converter-CN102 Amplifier-CN102 EV1SV-CNP2(Refer to Appendix 5-1, 6-1.)

Alarm?NoYes

Check if the amplifier READY LED (green) illuminates when the servo is ON.

Illuminates?No Yes

Failure in the primary power supply is suspected.




Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Replace the primary power supply.


Replace the amplifier(Refer to Appendix 5-1, 6-1.)

Check the cable connections between AXA01, AXB01, Converter, and amplifier: AXA-CN04. Amplifier-CNP4, -CNP6. Converter-CN101, -CN102.(Refer to Appendix 2-1, 5-1, 6-1.)


Primary power supply failure

Amplifier failure






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AL-4307SERVO ON DEFFECTIVE SPEEDThis alarm occurs if any manipulator axis moves (or any motor operates) when the servo power is ON.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Turn ON the servo power after 5 or more seconds from the alarm occurrence.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes



Check the connection of the SERVO PACK motor power line connector. Amplifier-CNP6� EV1SV-CNP16(Refer to Appendix 5-1, 6-1.)

Check the power cable connection of the manipulator cable.

Check the cable connection between AXA01 board and encoder. AXA01-CN07� AXB01-CN8-10� EV1SV-CN1, -CN2(Refer to Appendix 2-1.)


Replace the AXA01/AXB01 board.(Refer to Appendix 3-1.)


Axis drop at servo ON

Manipulator cableconnection failure



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AL-4308VOLTAGE DROP (CONVERTER)This alarm occurs if there is any error in the charge status of converter when the servo power is ON. As a cause of the alarm, a failure in the converter, primary power output, or amplifier is suspected. In rare cases, the alarm may be caused by a noise interference.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Check the cable connections betweenthe AXA01 board, AXB01 board, and converter. AXA01-CN01� AXB01-CN8-10� Converter-CN1� EV1SV-CN1(Refer to Appendix 2-1, 5-1, 6-1.)

Alarm?NoYes

Alarm?NoYes





Alarm?NoYes



Converter failure




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AL-4309DEFECTIVE ENCODER INTERNAL DATAThis alarm occurs if there is an internal parameter error in serial encoder.To recover from the alarm status, reset the alarm, recalibrate the home position, then restart the NX100. If unable to restore the normal condition, replace the motor causing the alarm.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.


Check the cable connections betweenthe AXA01 board, AXB01 borad, and encoder. AXA01-CN07� AXB01-CN8-10� EV1SV-CN1,-CN2(Refer to Appendix 2-1.)

Alarm?NoYes

Alarm?NoYes


Motor (Encoder) failure is suspected.




Encoder failure

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AL-4310ENCODER OVERHEATThis alarm occurs if there is a failure in a motor (for motor gun) which is not equipped with a serial encoder.The encoder monitors its own temperature with a thermometer; if the temperature exceeds the specified value, the alarm occurs.As a cause of the alarm, overloaded encoder status or effect of the ambient environmental temperature is suspected. In rare cases, the alarm may be caused by a defective motor gun axis.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Turn OFF the NX100 power for approx. 10 minutes, then turn it ON again.

Alarm?NoYes

Alarm?NoYes

Check if the ambient temperature is 45°C or less.

The temperature is 45°C or less. NoYes

Lower the ambient temperature to 40°C or less.

Alarm?NoYes







Alarm?NoYes


AXB01 board failure

Encoder failure

High ambient temperature

Overheated encoder

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AL-4311ENCODER BACK-UP ERRORIf this alarm occurs, the cumulative rotation amount data in the motor subsequently disappears.When operating the manipulator after performing the troubleshooting procedure, calibrate the home posi-tion with due consideration to the P-point maximum envelope of manipulator.Sub Code: Signifies the axis in which the alarm occurred

Clear the alarm with the programming pendant.

The alarm occurs.

Alarm?NoYes

AL-4314 occurredsimultaneously.

Check if AL-4314 (battery error) occurred in conjunction with this alarm.

No Yes






Alarm?NoYes



Encoder failure


Replace the battery of the axis in which the error occurred.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Check the cable connection between the AXA01 board and encoder. AXA01-CN07 AXB01-CN8-10 EV1SV-CN1,-CN2(Refer to Appendix 2-1.)


Data disappearance due to decreased battery voltage

Failure in the circuit board AXA01 and/or AXB01 board is suspected.


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AL-4312ENCODER BATTERY ERRORThe cumulative rotation amount data in the motor disappears if its encoder backup battery voltage decreases and is left unrestored without turning on the power to the NX100; therefore, make sure to replace the battery without delay.If the cumulative rotation amount data is lost as a result of ENCODER BACK-UP ERROR (AL-4311), cali-brate the home position with due consideration to the P-point maximum envelope of manipulator when starting to operate the manipulator again.Sub Code: None

The alarm occurs.

Decreased battery voltage is suspected.


Replace the battery.


Check the conduction of the battery line cable.

Alarm?NoYes


Decreased battery voltage

Cable failure

Alarm?NoYes

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AL-4313SERIAL ENCODER OVER HEATThe NX100 system monitors the encoder temperature with a thermometer in the encoder. This alarm occurs if the temperature exceeds the specified value.As a cause of the alarm, overloaded encoder status or effect of the ambient environmental temperature is suspected. In rare cases, the alarm may be caused by a manipulator malfunction.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Turn OFF the NX100 power for approx. 10 minutes, then turn it ON again.

Alarm?NoYes

Alarm?NoYes

Check if the ambient temperature is 45°C or less.

The temperature is 45°C or less. NoYes

Lower the ambient temperature to 40°C or less.

Alarm?NoYes





Alarm?NoYes



Encoder failure

High ambient temperature

Overheated encoder



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AL-4314SERIAL ENCODER BATTERY ERRORThis alarm occurs when the voltage of encoder backup battery decreases to 2.8 V or less.Since a condenser is not equipped in the motor with a serial encoder, the cumulative rotation amount data in the motor disappears when the NX100 power is turned OFF if the decreased voltage of encoder battery is left unrestored. Therefore, make sure to replace the battery using a backup battery. The same alarm occurs if the wiring between the backup battery and the motor is disconnected.If the cumulative rotation amount data is lost as a result of ENCODER BACK-UP ERROR (AL-4311), calibrate the home position with due consideration to the P-point maximum envelope of manipulator when starting to operate the manipulator again.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.



Single or multiple axes?

Examine how many axes were involved in the alarm.

Single axis Multiple axes




Alarm?NoYes




Alarm?NoYes



Disconnected?No Yes


Alarm?NoYes




Alarm?NoYes

Alarm?NoYes

Alarm?NoYes










AXA01 board failure

Encoder failure

Batteryconnection failureBattery

connection failure

Battery failure

Cable failure

Flow Chart A

Go to B

Go to C

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AL-4314SERIAL ENCODER BATTERY ERROR

Flow Chart B

AContinued from

Poor connection of the encoder battery line for external axis, or reduced battery power is suspected.






Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Check the battery voltage of external axis.

Check for disconnection of the external axis encoder battery line.

Check if the connectors of the external axis encoder battery line are properly connected.

Disconnected?No Yes




Encoder failure




AXB01 board failure

Batteryconnection failure

Battery failure

Cable disconnection

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Flow Chart C

AContinued from







Check the battery connection status of the voltage converter board of manipulator.


Alarm?NoYes



Alarm?NoYes


Disconnected?No Yes


Alarm?NoYes

Alarm?NoYes


Battery failure

Battery failure

Cable disconnection


End of correctivemeasuresGo to D


Alarm?NoYes

Check the battery voltage inside the manipulator.

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Flow Chart D

CContinued from



Alarm?NoYes

Alarm?NoYes





Encoder failure


AXA01 board failure

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AL-4315COLLISION DETECTA collision was detected because of the interference between the manipulator and a peripheral device.The external force applied to the robot exceeded the threshold.Sub Code: None

The alarm occurs.

Is the tool information set correctly?

Yes No

Any scratches or collision marks on the robot jig?

Scratches or marks?No Yes

Remove the interferences to the jigs of workpieces.

Alarm?Yes No

Any scratches or collision marks to the jigs of robot.

No Yes

Remove the interferences to the jigs of workpieces.

Alarm?Yes No

Adjust the speed and collision detection level of JOB.

Alarm?Yes

No

Adjust the acceleration/deceleration speed and collision detection of ACC and DEC.

Alarm?Yes No

Check JOB and adjust the collision detection level.

Alarm?Yes No

Check the workpieces and adjust the collision detection level.

Alarm?Yes No

Go to B

Interference error to the robot jigs.

Set the tool information correctly.

Alarm?Yes No

Interference error to the workpieces jigs.

Over teaching speed

Over teaching acceleration/deceleration speed.

Increase of Vibration by S-, U-axis or L- and U-axis’s simultaneous operation.

Usage of the workpieces over allowable load.


Tool file setting error.

Correctly set.

Scratches or marks?.

Flow Chart A

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AL-4315COLLISION DETECT

Are the operations of other facilities normal?

Normal?Yes No

Does the error occurring time vary?

Vary?No Yes

Set correctly.No Yes

Set the selection tap of the transfer correctly.

Alarm?Yes No

Check the connector’s connection status around the converter, amplifier and AXA board.

Alarm?Yes No

Go to C

Operate the operation status normally.

Alarm?Yes No

Connection error

Is the selection tap of the transfer set correctly?

Appearance load increases due to the primary voltage drop.

Normal?Yes No

Replace the power cables.

Alarm?Yes No

Check the length and diameter of the power cables.

Defective motor power

Blown?No Yes

Replace the motor power lines or connector section.

Alarm?Yes No

Check the conduction of motor power line U,V, W phase.(Between U-V,U-W and V-W)

Defective cables.

AContinued from

Appearance load increases due to the primary voltage drop.


Flow Chart B

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AL-4315COLLISION DETECT

Replace the amplifier.(Refer Appendix 5-1,6-1)

Alarm?Yes No

Increase of break load due to the blown of motor break line.

Check the break release noise.

Normal?No Yes

Broken?No Yes

Replace the motor break line or connector section.

Alarm?Yes No

Is the motor break line broken?

Normal?Yes No

Replace the motor.

Alarm?Yes No

Check max. torque, single motor operation and input gear engagement.

Defective amplifier

Defective motor

Check the noise or vibration of the speed reducer.

Normal?Yes No

Alarm?Yes No

Replace the speed reducer or the grease of it.

Alarn?Yes No

Measure the density of grease iron powder in the speed reducer and do the maintenance.

Malmaintainance

Defective speed reducer


BContinued from


Flow Chart C

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AL-4318SERIAL ENCODER CORRECT LIMITATION OVERThis alarm occurs if the value generated from the position data of serial encoder exceeds the limit value.Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.


Alarm?NoYes



Check the connections (removal and reinsertion) between AXA01, AXB01, and encoder. (Refer to Appendix 2-1.)

Alarm?NoYes




Alarm?NoYes


Alarm?NoYes

Connection failure

Encoder failure




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AL-4320OVER LOAD (CONTINUE)This alarm occurs to protect the the servo motor from overloading when 110%~150% of the rated torque is continuously loaded .Sub Code: Signifies the axis in which the alarm occurred

Does the alarm occur in the OFF state?

The alarm occurs.


Does the alarm occur in the servo OFF state?

Reduce the tools, the mass of the workpieces or the moments.

Reduce the motion speed.

Any interferences between the robot and workpieces or peripheral devices?

Any interferences?Yes No

It is suspected that the specification is in over loaded status. Reduce the load and continue using.

Remove the interference.

Does the brake opening sound occur?

Is 24V generated between NTU01 and CN8 (between brake terminals) in the control board?(Refer to appendix 4-1.)

Is 24V generated between the motor brake terminals?

Replace the motor.

Replace NTU01.(Refer to Appendix 4-1)

Does the power flow?Yes No

Check the power flow of the brake cable of the wire harness in the robot.

Replace the wire harness in the robot.


Alarm? NoYes

Alarm? NoYes

Alarm?No Yes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes

Alarm?NoYes



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AL-4321OVER LOAD (INSTANT)This alarm occurs instantly to protect the servo motor from overloading when 200% of the rated torque is loaded.


AL-4322AMPLIFIER OVER LOAD (CONTINUE)This alarm occurs to protect the power transister of the servo pack from overloading when 110%~150% of the rated torque is continuously loaded .


AL-4323AMPLIFIER OVER LOAD (INSTANT)This alarm occurs instantly to protect the power transister of the servo pack from overloading when 200% of the rated torque is continuously loaded .


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AL-4324CONVERTER OVERLOADThis is a converter overload alarm detected by the converter.Sub Code: Signifies the physical No. of converter in which the alarm occurred

Adjust the JOB speed.

Adjust the acceleration/decelerationspeed of ACC and DEC.

Check JOB.

Check workpieces.


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

The alarm occurs.

Alarm?NoYes





Alarm?NoYes


Converter failure


Failure in the AXA01 and/or AXB01board is suspected.


Excessive teaching speed

Excessive teaching acceleration/deceleration speed

Increase of vibration by S-, U-axis or L- and U-axis’s simultaneous operation.

Usage of the workpieces over allowable load.

162074-1CD

AL-4326SPEED ERRORThis alarm occurs if the motor speed indicated in the axis data exceeds the allowable maximum motor speed.As a cause of the alarm, effect of external force on the manipulator, motor power cable disconnection, defective motor, or defective board is suspected.Sub Code: None

The alarm occurs.

Check if the alarm occurred during operation.

NoYes

Check if the alarm occurred in the gun axis (when it is open).

Alarm occurred duringoperation.

Alarm occurred in gun axiswhen it is open. NoYes

Short-open the strike of the motor gun in which the alarm occurred.

Alarm?NoYes

Check the position where the alarm occurred.

The alarm occurred in a specific positon NoYes

Effect of external force (gravity) is suspected.

Slow down the operation speed.

Alarm?NoYes


Replace the motor.

Alarm?NoYes

Alarm?NoYes


Replace the AXA01 board(Refer to Appendix 3-1.)


Effect of external force

Motor failure

AXA01 board failure


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AL-4327WRONG MOTOR ROTATIONThis alarm occurs if the torque and speed have opposite directions during motor acceleration.As a cause of the alarm, a failure in the motor power cable or the connection cable between the encoder, AXA01 servo control board, and AXB01 servo control board is suspected.Sub Code: None


Alarm?NoYes

The alarm occurs.

Check the cable connectionbetween AXA01 board and encoder. AXA01-CN07 AXB01-CN08-10 EV1SV-CN1,-CN2(Refer to Appendix 2-1.)

Alarm?NoYes

Check the connection status of the motor power line connector of the servo pack. Amplifier-CNP6 EV1SV-CNP16(Refer to Appendix 5-1, 6-1.)

Alarm?NoYes

Alarm?NoYes


Check the connection status of the power cable, which feeds power.


Alarm?NoYes



Power cableconnection failure




162074-1CD

AL-4328SERVO TRACKING ERRORThe deviation from the order pulse from the servo control board (AXA01, AXB01), or that from feedback pulse from the encoder becomes too large while the servo power is turned ON.Sub Code: None

The alarm occurs.

(Note)If the brake is released, the axis drops due to its own weight.

Does the break opening sound occur?

If this occurs on the S axis of the wrist axis (R,B,T), can yourelease the brake of the target axis using the brake release unit and smoothly move it by hand?


NoYes

Remove the interference.

Alarm?No Yes

Occur?

Does it smoothly move? NoYes

NoYes

No Yes

NoYes

Any interferences between the robot and workpieces or peripheral devices?

Any interferences?Yes No

Continued on the next page.

Replace the servo pack and converter.

Connect wires (power line and encoder line) to the spare motor and vibrate it alone.(Note)Connect the battery to the motor incorporated in the robot.

No Yes

Replace the AXA01 and/or AXB01. (Refer to Appendix 3-1.)

No Yes

Check wiring between the AXA 01 and the motor and between the servo pack and the motor.

No Yes

Alarm?

Is the resistance value normal?

Alarm?

Alarm?

Alarm?

Normal?

Replace the motor.

Remove the line between the amplifier and CNP6 and the one between EV1SV and CNP16 and measure the resistance between phases U and V, U and W, and V and W.(Evaluation: All the resistances between the phases are several and the same values.)Measure the insulated resistance between U and E, W and E, and V and E.(Evaluation: 500M to )

Check wiring between the servo pack and the motor.

Dismount the motor incorporated in the robot and operate it alone.

The robot is locked.

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AL-4328SERVO TRACKING ERROR

Is the 24V-LED of the CPS power supply lit in red when theservo power is turned ON?

NoYes

NoYes

NoYes

No Yes

NoYes

Replace the NTU01.

If a brake board (DKB01) is attached, replace the existing board with it.

Confirm that the 24V is generated between the motor brakes.

Remove the connector from the NTU01 unit CN08 and check the ground fault of brake line.

If a brake board (DKB01) is attached, replace the existing board with it.

No Yes

Alarm?

Generated?

A ground fault has occurred.

Is it lit?

Alarm?

Alarm?

Replace the motor.

Continued fromthe previous page.


No YesAlarm?

Replace the CPS power.


Check brake wiring between the NTU01 and the motor.

If the brake release unit is provided, replace it with a new one.

No YesAlarm?

If the brake release unit is provided, check if the fuse has blown out.

Replace the fuse with a new one.

No YesIs it melted down?

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AL-1332POSITION ERRORThis alarm occurs if the feedback pulse miscount is detected in the motor gun axis.A failure in the AXB01 or XEI01 circuit board, or connection cable between those boards may cause the alarm.Sub Code: None


Alarm?NoYes




The alarm occurs.




Turn OFF the NX100 power.Alarm?

NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Alarm?NoYes

Alarm?NoYes

Check if there is any device that generates high electrical noise around the robot system.

High-noise generatoris present. NoYes

Elilminate the noise or take a countermeasure against the noise.

Check the connections (removal and reinsertion) between the AXB01 and encoder. (Refer to Appendix 3-1.)

Failure in the XEI01 board is suspected.

Replace the XEI01 board(Refer to Appendix 3-1.)

Failure in the COV03 board is suspected.

Replace the COV03 board(Refer to Appendix 3-1.)


Replace the AXB01 board(Refer to Appendix 3-1.)

Replace the cable between the AXB01board and the XEI01 board.(Refer to Appendix 2-1.)

Connection failure

Noise error

XEI01 board failure

COV03 board failure

AXB01 board failure

Cable failure

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AL-4331SPEED MONITOR LEVEL ERRORThe speed monitoring level value is incorrect.(1) Reset the alarm.(2) If the alarm occurs again, replace the servo control board (AXA01).


Alarm?NoYes

The alarm occurs.

Alarm?NoYes

Check if there is any device that generates high electrical noise around the NX100.


Eliminate the noise or take a countermeasure against the noise.


Alarm?NoYes

Check the cable connections between AXA01 board, AXB01 board, and encoders. AXA01-CN07 AXB01-CN08-10� EV1SV-CN1, -CN2(Refer to Appendix 2-1.)



Alarm?NoYes


Noise error




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AL-1333POSITION ERROR (SERIAL ENCODER)This alarm occurs if the feedback pulse miscount is detected in a serial encoder.As a cause of the alarm, a failure in the connection cable between the servo control board (AXA01, AXB01) and the encoder is suspected.Sub Code: None


Alarm?NoYes

The alarm occurs.

Alarm?NoYes

Check if there is any device that generates high electrical noise around the NX100.


Eliminate the noise or take a countermeasure against the noise.


Alarm?NoYes

Check the cable connections between AXA01 board, AXB01 board, and encoders. AXA01-CN07 AXB01-CN08-10� EV1SV-CN1, -CN2(Refer to Appendix 2-1.)



Alarm?NoYes


Noise error




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AL-4334OVER VOLTAGE (CONVERTER)This alarm occurs if the regenerative energy during the motor deceleration is too much that it cannot be processed in the regenerative circuit of SERVO PACK.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.Flow Chart A

Go to B

Check if the alarm occurs when the servo power is OFF

Check the cable connections (removal and reinsertion) between AXA01, AXB01, and encoder. (Refer to Appendix 2-1, 5-1, 6-1.)

Alarm occurs when servois OFF.No Yes

Alarm? NoYes



Replace the converter. (Refer to Appendix 5-1, 6-1.)

Alarm? NoYes


Alarm?NoYes

Connection failure

Converter failure





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AL-4334OVER VOLTAGE (CONVERTER)

Flow Chart B AContinued from

Reduce 30% of the taught speed of the four steps before and after from the step where the alarm occurred.

Alarm?NoYes

The load mounted on the manipulatoris too large; reconsider the load.

Alarm?NoYes

Examine the primary voltage of the breaker.

The voltage is 200 V (+10 to 15%) NoYes

Check for disconnection of regenerative resistor. (Remove the converter connector CNP3, and measure the resistance.) (Refer to Appendix 5-1, 6-1.)

Modify the primary breaker voltage to the specified voltage.

Alarm?NoYes

Alarm?No Yes

Failure in the regenerative resister is suspected.





Replace the regenerative resistor.(Refer to Appendix 5-1, 6-1.)

Alarm?NoYes


Alarm?NoYes

Alarm?NoYes



Converter failure

Regenerative resistor failure

Primary voltage error



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AL-4335GROUND FAULTThis alarm occurs if there is a ground fault in any motor power line connected to converter.When this alarm occurs, AL-4337 OVER CURRENT (AMPLIFIER) also occurs to all the axes driven by a common converter.Sub Code: Signifies the axis in which the alarm occurred (If the axis is driven by a common converter, all the subject axes are signified.)

Flow Chart A

Go to B


Alarm?NoYes

The alarm occurs.

Check for ground fault.

A ground fault hasoccurred. NoYes



Replace the amplifier. (Refer to Appendix 5-1, 6-1.)

Alarm? NoYes



Replace the converter. (Refer to Appendix 5-1, 6-1.)

Alarm? NoYes


Alarm?NoYes

Converter failure



Amplifier failure



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AL-4335GROUND FAULT

Flow Chart B

AContinued from

Turn ON the servo power with connectors on the connector base removed.

Alarm?NoYes

Turn ON the servo power with cables in the NX100 disconnected.

Alarm?NoYes

Go to C

Failure in the power cable is suspected.




Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Replace the power cable.

Failure in the manipulator cable is suspected.

Replace the manipulator cable.


Replace the motor.





Power cable failure

Manipulator cable failure

Motor failure

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AL-4335GROUND FAULT

Flow Chart C BContinued from





Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Remove CN08 of the NTU01 unit.(Refer to Appendix 4-1.)

Turn ON the servo power with the amplifier power cable in the NX100 disconnected. (Refer to Appendix 5-1, 6-1.)




Replace the amplifier.(Refer to Appendix 5-1, 6-1.)




Amplifier failure

Converter failure

*Fall prevention measures

Failure in theAXA01 and/or AXB01 board is suspected.


Check the cable connections between AXA01 board, AXB01 board, and Converter. AXA01-CN01 AXB01-CN08-10 Converter-CN1 EV1SV-CN1(Refer to Appendix 2-1.)

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AL-4336OPEN PHASE (CONVERTER)This alarm occurs if there is an open phase in the converter input power.As a major cause of this alarm, open phase of primary power or failure contactor is suspected.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Go to B

Check if the alarm occurs when the servo power is OFF.


Check the cable connections between AXA01 board, AXB01 board, and converter. AXA01-CN01 AXB01-CN08-10� Converter-CN1� EV1SV-CN1 (Refer to Appendix 2-1.)

Alarm? NoYes

Alarm? NoYes

Alarm? NoYes







Converter failure


Flow Chart A



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AL-4336OPEN PHASE (CONVERTER)




Contactor failure


Alarm?NoYes

Check for the contactor damage(melting/sticking).

Alarm?NoYes






Alarm?NoYes



Alarm?NoYes

Replace the contactor.(Refer to Appendix 4-1.)

Alarm?NoYes

Converter failure




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AL-4337OVER CURRENT (AMPLIFIER)This alarm occurs if a current exceeding the allowable maximum current is applied for amplifier.As a cause of the alarm, a ground fault in the U, V, or W wire, or a short circuit between these wires is suspected.As a cause of the alarm, the amplifier or the servo control board (AXA01, AXB01) failure is suspected.Also, when AL-4335 GROUND FAULT alarm occurs, this alarm occurs to all the axes driven by the common converter.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Go to B



Flow Chart A

Check if the alarm occurs when the servo power is ON.

Alarm occurs when servois ON. NoYes

Check the cable connections between AXA01 board, AXB01 board, and amplifier. AXA01-CN04-16 AXB01-CN08-10 Amplifier-CN1 EV1SV-CN1(Refer to Appendix 2-1.)

Alarm? NoYes





Alarm? NoYes

Alarm? NoYesAXA01/AXB01board failure



Amplifier failure



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AL-4337OVER CURRENT (AMPLIFIER)


Check if a ground fault or short circuit has occurred.

There is a ground fault or short circuit NoYes




Alarm?NoYes


Alarm?NoYes


Turn ON the servo power with connectors on the connector base removed.

Alarm?NoYes



Alarm?NoYes

Alarm?NoYes

Failure in the manipulator cable is suspected.

Replace the manipulator cable.


Replace the motor.

Manipulator cable failure

Motor failure


Amplifier failure

Go to C



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AL-4337OVER CURRENT (AMPLIFIER)

Flow Chart CBContinued from

Turn ON the servo power with cables in the NX100 disconnected.

No YesAlarm?

Failure in the power cable is suspected.


Alarm?NoYes

Replace the power cable.

Cable failure


Remove CN08 of the NTU01.(Refer to Appendix 4-1.)

Turn ON the servo power with the amplifier power cable in the NX100 disconnected.

Alarm?NoYes

Alarm?NoYes


Alarm?NoYes




Alarm?NoYes


Power cablefailure


Amplifier failure



Check the cable connection between the board edge and the amplifier. Amplifier-CNP6EV1SV-CNP16

(Refer to Appendix 5-1, 6-1.)



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AL-4338REGENERATION TROUBLE (CONVERTER)This alarm occurs if the converter regenerative resistor cable is disconnected or short-circuited.Sub Code: Signifies the axis in which the alarm occurred


Alarm?NoYes

The alarm occurs.

Check the cable connections between converter and regenerative resistor. Converter-3CNP� EV1SV-CNP3(Refer to Appendix 2-1, 5-1, 6-1.)

Alarm? NoYes


Failure in the regenerative resistor is suspected.

Replace the regenerative resistor.(Refer to Appendix 1-1.)

Alarm? NoYes





Alarm? NoYes

Alarm? NoYesAXA01/AXB01board failure


Converter failure

Regenerative resistor failure



Replace the AXA01 and/or AXB01 board (Refer to Appendix 3-1.)

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AL-4339INPUT POWER OVER VOLTAGE (CONVERTER)This alarm occurs if the input voltage monitored by the NX100 exceeds 420 V.As a cause of the alarm, a primary power supply voltage error or defective circuit board is suspected.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Alarm?NoYes

The alarm occurs.






Alarm?NoYes


Check the cable connections between AXA01 board, AXB01 board, and converter. AXA01-CN01 AXB01-CN08-10 Converter-CN1 EV1SV-CN1(Refer to Appendix 2-1.)

Alarm? NoYesCable connection failure



Alarm? NoYes

Alarm? NoYes





Converter failure



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AL-4340TEMPERATURE ERROR (CONVERTER)This alarm occurs if the converter temperature monitored by the NX100 system exceeds the specified value.As a cause of the alarm, an effect of ambient environment or temperature is suspected. In rare cases, the alarm cause is attributed to an error in the primary control power supply or noise interference.Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Leave the NX100 for 10 minutes with its power turned ON.

Turn ON the servo power.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes




Check the cable connections between AXA01 board, AXB01 board, and converter. AXA01-CN01 AXB01-CN08-10� Converter-CN1� EV1SV-CN1(Refer to Appendix 2-1.)





Converter failure




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AL-4344LINEAR SERVOFLOAT TRACKING ERRORThe deviation of X, Y, and Z-axis exceeded the allowable limit while the linear servo float was in execu-tion.(1) Check the job.Sub Code: Signifies the axis in which the alarm occurred

AL-4345LNK SERVOFLOAT EXECUTE ERRORThe link servo float execution request was made for the axis that is already performing the linear servo float process.(1) Check the job.Sub Code: Signifies the axis in which the alarm occurred

AL-4346LNK SERVOFLOAT TRQ LIMIT ERRORThe limit torque of the link servo float condition file is outside the specified range.(1) Check the limit torque of the link servo float condition file.Sub Code: Signifies the axis in which the alarm occurred

AL-4347LNR SERVOFLOAT TRQ LIMIT ERRORThe limit torque of the linear servo float condition file is outside the specified range.(1) Check the limit torque of the linear servo float condition file.Sub Code: Signifies the axis in which the alarm occurred

AL-4348LNR SERVOFLOAT COORD TYPE ERRORThe linear servo float execution request was made for the axis that is already performing the linear servo float process, specifying another coordinate system.(1) Check the job and the linear servo float condition file.Sub Code: Signifies the linear servo float condition file No. in which the alarm occurred

AL-4349LNR SERVOFLOAT TOOL POSE ERRORThe linear servo float execution request was made for the axis that is already performing the linear servo float process, specifying different tool posture control.(1) Check the job and the linear servo float condition file.Sub Code: None

AL-4350LNR SERVOFLOAT EXECUTE ERRORThe linear servo float execution request was made for the axis that is already performing the link servo float process.(1) Check the job setting.Sub Code: Signifies the axis in which the alarm occurred

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AL-4352TWIN DRIVE OVER DEVIATIONThe deviation of the position error pulse from the twin drive axis exceeded the allowable limit.

Alarm?

Blown?

NoYes

The alarm occurs.

Check the conduction of motorpower line U,V, W phase.(Between U-V,U-W and V-W)

No Yes


Motor power line failure

Alarm?NoYes

Alarm?NoYes

Increase of brake load due to the blown of motor brake line.

Check the brake release noise.

Check for disconnection of the motor brake cable.

Normal? NoYes

Normal? NoYes


Replace the motor power lines orconnector section.

Replace the motor.

Alarm? NoYes

Alarm? NoYes

Amplifier failure

Motor failure


Check the max. torque, single motor operation and input gear engagement.

Check the cable connections between AXA01 board, AXB01 board, and amplifier. AXA01-CN04-06 AXB01-CN08-10� Amplifier-CN1� EV1SV-CN1(Refer to Appendix 2-1.)

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AL-4353DEFECTIVE TAUGHT POINT (ENDLESS)This alarm occurs if the feedback pulse count of endless operation axis exceeds the allowable maximum pulse count (229 = 536, 870, 912).Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes


Reset the alarm with the programming pendant.


Failure in the operation command software (JOB) is suspected.

Reexamine the software.

Perform the MRESET instruction to the axis in which the alarm occurred.




JOB creation error

JOB creation error

Encoder failure



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AL-4355EXTERNAL PRES DETECT (SERVOFLOAT)An external force above the threshold was detected on the servo-float executing axis.(1) Check the job.

162074-1CD

AL-4359CONVERTER ERRORConverter, AXA01, and AXB01 perform communications in the NX100 system.This alarm occurs if the AXA01 and AXB01 have failed to identify the alarm type.Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Alarm?NoYes


Check if the software versions of converter, AXA01 board, and AXB01 board are proper.

Proper versions?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes

Set each software to the proper version.

Check the cable connections between AXA01 board, AXB01 board, and converter. AXA01-CN01 AXB01-CN08-10� Converter-CN1� EV1SV-CN1(Refer to Appendix 2-1, 5-1, 6-1.)






Converter failure





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AL-4364GUN AXIS SOFT LIMIT OVERThe gun axis overed the software limit while pressuring operation is excuted.Sub Code: None

The alarm occurs.


Is the home position appropriate?

Yes No


Released side?Yes No

Reset the software limit at the gun closed side. Add the moving amount of electrode wear.(Parameter S1CxG200 or 208)

Move the gun axis to the home position.

Did the limit over the gun on the released side?

Reset the software limit of released side gun.(Parameter S1CxG200 or 208)

Alarm?Yes No

Reset the home position of the gun axis.

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AL-4365TOUCH DETECT DATA OVERIn comparison to the postion, where the gun electrode hits the welded target, at the previous wear detec-tion, the position during pressuring exceeded the allowable limit which had been set in the motion limit for which the fixed (movable) gun electrode hits the welded target.Sub Code: None

The alarm occurs.

Is the home position appropriate?

Yes No

Does it open as specified?Yes No

Reset the "pulse-stroke converter" in the gun condition file.

Move the gun axis to the home position.

Specify the opening degree by FULL or SHORT OPEN before execution.

Reset the motion limit for which the fixed (movable) gun electrode hits the welded target in the gun condition file


Alarm?Yes No

Reset the home position of the gun axis.

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AL-4371

SYSTEM ERROR (SERVO)

Sub Code: Error Cause Data No.

2200:The independent brake control was performed in brake unit which was not supported for the con-trol. Check the brake unit to see if it supports independent brake control.

6001: The DIN-1 signal is used by multiple functions. Check the setting.





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AL-4372SERVO ON SIGNAL ERRORThe servo OFF status is sent from power-ON unit (NTU01).As a cause of the alarm, a failure in the connection cable between the power-ON unit (NTU01) and the AXA01 is suspected.


Alarm?NoYes

The alarm occurs.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes





AXA01 board failure


NTU01 failure



Replace the AXA01. (Refer to Appendix 3-1.)

Check the connection status between the AXA01 board and the NTU01. AXA01-CN03 NTU01-CN01(Refer to Appendix 2-1.)

162074-1CD

AL-4400NOT READY (ARITH)This alarm occurs if the arithmetic process has not completed within regulated time.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4401SEQUENCE TASK CONTR ERRORThis alarm occurs if an error is detected during job execution control.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4402UNDEFINED COMMAND (ARITH)An undefined command was issued to the arithmetic processing section.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code: None

AL-4404ARITHMETIC ERRORThis alarm occurs if an error is detected in the arithmetic processing section.Sub Code

AL-4406GROUP AXIS CONTROL ERRORThis alarm occurs if an error is detected in internal control group data during coordinated motion.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

4400 to 4402/4404/4406






The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4407TWO STEPS SAME POSITION (CIRC)Among three taught points in a circular interpolation step, this alarm occurs if two or three points are on the same point.Sub Code: None< Remedy >Modify the teaching points of circular interpolation step so that multiple points will not be placed at the same point and check operation.

AL-4408TWO STEPS SAME POSITION (SPLINE)Among three taught points in a spline interpolation step, this alarm occurs if two or three points are on the same point.Sub Code: None< Remedy >Modify the teaching points of spline interpolation step so that multiple points will not be placed at the same point and check operation.

AL-4409TWO STEPS SAME POSITION (3 STEPS)Among three taught points to create an user coordinate system, this alarm occurs if two or three points are on the same point.Sub Code: None< Remedy >Teach the different 3 points to create an user coordinate system again.

AL-4410TWO STEPS SAME POSITION (WEAV)Among three taught points to create a weaving coordinate system, this alarm occurs if two or three points are on the same point.Sub Code: None< Remedy >Teach the different 3 points (start, end, and reference points) again.

AL-4411TEACH ERROR (SPLINE)This alarm occurs if the distance between the teaching points in the spline interpolation section is not equidistant.Sub Code: None< Remedy >Teach the positions so that the distance between the teaching points is even.

AL-4412IMPOSSIBLE LINEAR MOTION (L/U)This alarm occurs if the form of LU axis (bending direction) differs between the start point and the end point in a move instruction other than MOVJ.Sub Code: None< Remedy >

• Perform the teaching again to make the form of L- and U-axes same at start point and end point.• Perform the teaching again use a MOVJ instruction.

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AL-4413IMPOSSIBLE LINEAR MOTION (S/L)This alarm occurs if the form of SL axis (bending direction) differs between the start point and the end point in a move instruction other than MOVJ.Sub Code: None< Remedy >

• Perform the teaching again to make the form of S- and L-axes same at start point and end point.• Perform the teaching again use a MOVJ instruction.

AL-4414EXCESSIVE SEGMANT (LOW)This alarm occurs if the operation command which exceeds the designated max. speed is output.It may occur when the robot operates near the singular point or when the robot is going to change its orientation widely with single control point.Sub Code: Signifies the control group and the axis in which the alarm occurred

AL-4415

EXCESSIVE SEGMENT (HIGH)This alarm occurs if the operation command which exceeds the designated max. speed is output.It may occur when the robot operates near the singular point or when the robot is going to change its orientation widely with single control point.Sub Code: Signifies the control group and the axis in which the alarm occurred

Change the manipulator position in or before the step where the alarm occurred.* Be careful to the peripheral interference since its movement changes.

The alarm occurs.


Decrease the speed in the step where the alarm occurred.

Alarm?Yes No

Alarm?Yes No

Change the move instruction to link interpolation (MOVJ).* Be careful to the peripheral interference since its movement changes.

Alarm?Yes No


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AL-4416/AL-4417

PULSE LIMITThis alarm occurs if each axes exceeds its motion limit (pulse limit).Sub Code: Signifies the control group and the axis in which the alarm occurred

AL-4418/AL-4419

CUBE LIMITThis alarm occurs if the manipulator TCP exceeds its motion limit (cube limit) in the negative(-) direc-tion.Sub Code: Signifies the control group and XYZ in which the alarm occurred

AL-4420/AL-4421

SPECIAL SOFT LIMITThis alarm occurs if the manipulator axis exceeded its motion limit (special software limit).Sub Code: Signifies the control group and the axis in which the alarm occurred

AL-4422/AL-4423

MECHANICAL INTERFERENCEThis alarm occurs if the intended operation direction would be interfered by the robot link.Sub Code: Signifies the control group and the axis in which the alarm occurred

AL-4424/AL-4425

SPECIAL MECHANICAL INTRFThis alarm occurs if the intended operation direction would be interfered by the robot link.Sub Code: Signifies the control group and the axis in which the alarm occurred

AL-4426/AL-4427

PULSE MECHANICAL LIMITThis alarm occurs if each axes exceeds its motion limit (mechanical limit).Sub Code: Signifies the control group and the axis in which the alarm occurred

AL-4416 TO AL-4427

Alarm?Yes No


The alarm occurs.

Check the operation range of control group where an alarm occurred and modify the teaching point so that the step where the alarm occurred falls into the specified operation range.

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AL-4428

SEGMENT CONTROL ERRORThis alarm occurs if an error is detected in the segment processing section.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4429

WRONG SPECIFIED CONTROL GROUPThis alarm occurs if an error is detected in the manipulator information at job execution.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4430

CPU COMMUNICATION ERRORThis alarm occurs if an error is detected in interrupt process between CPUs.The RAM data failure in the NCP01 or YCP02 boards may also cause this alarm.Sub Code

AL-4431

JHM ERRORThis alarm occurs if an error is detected in job control process.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4432

INSTRUCTION INTERPRETER ERRORThis alarm occurs if an error is detected in instruction interpretation/execution process.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4433

UNDEFINED GLOBAL VARIABLEThis alarm occurs if the memory area for global (user) variables is not reserved.The RAM data failure in the NCP01 board may also cause this alarm.

Sub Code







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AL-4435

UNDEFINED LOCAL-VARIABLE

The RAM data failure in the NCP01 board may also cause this alarm.

Sub Code

4428 to 4433/4435

AL-4436LESS THAN 3 STEPS (CIRCULAR)This alarm occurs if there is no continuous three points or more for circular interpolation step.Sub Code: None<Remedy>Perform teaching so that circulation interpolation steps are continuous three points or more, and then check the operation.

AL-4437LESS THAN 3 STEPS (SPLINE)This alarm occurs if there is no continuous three points or more for spline interpolation step.Sub Code: None<Remedy>Perform teaching so that spline interpolation steps are continuous three points or more, and then check the operation.

AL-4438UNDEFINED JOBThis alarm occurs if the job to be executed is not registered.Sub Code: None<Remedy>Check that the CALL/JUMP destination job is registered. If not, delete the CALL/JUMP instruction where the alarm occurred and check operation.



The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4439UNDEFINED LABELThis alarm occurs if the label for jump destination is not registered in the job.Sub Code: None<Remedy>Check that the JUMP destination job is registered. If not, delete the JUMP instruction where the alarm occurred and check operation.

AL-4440UNDEFINED RETURN JOBThis alarm occurs if the call source job does not exist in the job call stack.Sub Code: None<Remedy>

• If the start job incorrectly contains the RET instruction, delete it.• Check if the RET instruction was executed when the job call stack did not contain any job. If this is

the case, execute the instruction from the master (start) job.

AL-4441LACK OF LOCAL-VARIABLE AREAThis alarm occurs if the memory area is lacking because too many local variables in the job are used.Sub Code: None<Remedy>Reduce the number of local variables to be used, and then check the operation.

162074-1CD

AL-4444UMSUCCESSFUL FINE POSITIONINGWhen PL= 0 or an external servo turned OFF, the number of the servo error pulses did not fall in the limit range that had been set in a parameter, within the specified time.Sub Code: None


The alarm occurs.



Alarm?Yes No

Alarm?Yes No


Alarm?Yes No


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AL-4445DATA PRESET ERRORThis alarm occurs if the NX100 detects data error in instruction interpretation prereading process.The RAM data failure in the NCP01 board may also cause this alarm.

Sub Code1 to 255: Signifies the internal software error


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4446OVER VARIABLE LIMITThe value set in the tag for instruction exceeded the limit.Sub Code: None< Remedy >Check the variable settings and modify the job so that it falls in the tag input range and check operation.

AL-4447DEFECTIVE TAUGHT POINT (CIRC)This alarm occurs if the three points taught for the circular interpolation step lie in a straight line.Sub Code: None< Remedy >Teach the 3 points again so that they do not lie in a straight line, and then check the operation.

AL-4448WEAVING CONTROL ERRORThis alarm occurs if an error is detected in weaving control.Sub Code

< Remedy >Reset the value 0.1 seconds or more.

< Remedy >Reset the value 0.1 Hz or more.

< Remedy >Set a positive value for the timer value.

< Remedy >Set a positive value for the vertical and horizontal distance.

< Remedy >Align the control group specification an the reference point with the control group specification for weaving execution.

< Remedy >Set the correct dimensions in the tool data.

< Remedy >Set the correct dimensions in the tool data.

4: When the speed is specified by weaving time in the weaving file, zero or the negative value is set for the weaving time.

5: When the speed is specified by frequency in the weaving file, zero or the negative value is set for the frequency.

6: When the timer mode is specified in the weaving file, a negative value is set for the timer value.

7: For triangle or L-type weaving, zero is set for the vertical or horizontal distance.

8: The coordinate control axis designation for the reference point is different from actual control axis.

9: The distance between the point P and the TCP could not be calculated in wrist weaving.

10: The Y-direction element of circular coordinate system for circular wrist weaving could not be cal-culated.

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< Remedy >Check the wall direction and horizontal direction settings.

< Remedy >Check the wall direction and horizontal direction settings.

< Remedy >Correct the weaving synchronizing file No. to be used.

11: The Y-direction element of circular coordinate system for circular wrist weaving could not be cal-culated.

12:The X-direction element of circular coordinate system for circular wrist weaving could not be cal-culated.

16: The weaving synchronizing file No. is incorrect.

1,14 to 15: Signifies the internal software error


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4449UNMATCHED POSN VAR DATA TYPEThis alarm occurs if the position type variable data type is different.Sub Code: None< Remedy >Match the position type variable data type for the storage source/destination, and then check the oper-ation.

AL-4450

FILE NO. ERRORThis alarm occurs if an error occurs in file number check.Sub Code:

< Remedy >Modify the specified file number within the range, and then check the operation.

AL-4451UNDEFINED REFERENCE POINTThis alarm occurs if the reference point is not registered or is insufficient.Sub Code: Reference point No.< Remedy >Teach the reference point again, and then check the operation.

AL-4452STACK MORE THAN 10 (JOB CALL)This alarm occurs if an attempt is made to add more than twelve stacks in the job call stack at CALL instruction execution.Sub Code: None< Remedy >Correct the job so that the number of nests for CALL instruction is twelve or less, and then check the operation.

AL-4453OVER VARIABLE NO.This alarm occurs if the variable number is out of range.Sub Code: Variable number< Remedy >Correct the job using the variable number within the range, and then check the operation.

1: An error occurred in tool file number check.

2: An error occurred in user coordinate file number check.

3: An error occurred in calibration file number check between the manipulators.

4: An error occurred in tool calibration file number check.

5: An error occurred in reference point number check.

7: An error occurred in check for welding start condition file number.

8: An error occurred in check for welding end condition file number.

9: An error occurred in conveyor characteristic file number check.

10: An error occurred in press characteristic file number check.

12: An error occurred in conveyor calibration file number check.

13: An error occurred in argument number check.

14: An error occurred in check for motor gun condition file number.

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AL-4454UNDEFINED POWER SOURCE COND.This alarm occurs if the arc welding characteristic file is not set.Sub Code: None< Remedy >Complete the settings for the arc welding characteristic file, and then check the operation.

AL-4455UNDEFINED ARC START COND FILEThis alarm occurs if the welding start condition file is not set.Sub Code: None< Remedy >Complete the settings for the welding start condition file, and then check the operation.

AL-4456UNDEFINED ARC END COND FILEThis alarm occurs if the welding end condition file is not set.Sub Code: None< Remedy >Complete the settings for the welding end condition file, and then check the operation.

AL-4457WRONG WELDER SELECTIONThis alarm occurs if the reference unit for the welding voltage and the welder type (independent/unified) do not match.Sub Code: None< Remedy >Correct the reference unit for the welding voltage, and then check the operation.

AL-4459EXCESSIVE INSTRUCTION EQUATIONThis alarm occurs if the operation is impossible because the expression is too long.Sub Code: None< Remedy >Correct the job so that the expression may shorten separating the operation expression, and then check the operation.

AL-4460ZERO DIVIDED OCCURRENCEThis alarm occurs if the zero division is done.Sub Code: None< Remedy >Correct the job so as not to divide by zero, and then check the operation.

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AL-4461UNDEFINED AUTO-WELD RELEASE CONDThis alarm occurs if the number of welding release condition is zero for arc auxiliary file in automatic welding release process.Sub Code: None< Remedy >Set the number of times of welding release condition other than zero, and then check the operation.

AL-4462UNDEFINED POSITION FOR ARC RETRYThis alarm occurs if the arc retry has been set, but no move instruction exists following ARCON instruc-tion.Sub Code: None< Remedy >Set the move instruction following ARCON instruction, and then check the operation.

AL-4463PARITY ERRORThis alarm occurs if the parity check for user I/O group detects the data error.Sub Code: None< Remedy >Check the parity data setting of the user I/O group.

AL-4464OVER BCD RANGEThis alarm occurs if the BCD value exceeds the limit.Sub Code: None< Remedy >Correct the BCD data so as not to exceed the range.

AL-4465OVER BINARY RANGE (PARITY CHECK)The binary data exceeds the limit. This alarm occurs if an attempt is made to output a value that exceeded 127 (decimal) to the user I/O when parity check is specified.Sub Code: None< Remedy >Correct the binary data so as not to exceed the range.

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AL-4466OFFLINE UNDEFINED COMMAND (ARITH)This alarm occurs if an invalid command is issued to the offline position-data preparation section.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4467USER COORD STEP NOT ENOUGHThis alarm occurs if the number of steps is lacking for a job for user coordinate creation.Sub Code: None< Remedy >Correct the job so that the number of steps will be three or more.

AL-4468ROBOT CALIBRATION DATA ERRORThis alarm occurs if an error is detected during calibration between manipulators.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

0: Signifies the internal software error



The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4469ROBOT CALIBRATION FRAME ERRORThis alarm occurs if an error is detected during calibration coordinate conversion between manipula-tors. The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

4468 to 4469

AL-4470ROBOT CARIB STEP NOT ENOUGHThis alarm occurs if the number of steps is lacking for a job for calibration data creation between manip-ulators.Sub Code: None< Remedy >Teach the specified number of steps again, and then check the operation.

AL-4471CALIBRATION DATA ERRORThis alarm occurs if the tool calibration data cannot correctly be prepared.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code




The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4473ARITHMETIC ALARM RESET ERRORThis alarm occurs if the alarm occurred in the calculation section cannot be reset.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code: None

4471/4473

AL-4474WRONG CONTROL GROUP AXISThis alarm occurs if an attempt is made to call or jump to a job whose control group cannot be con-trolled or to start such a job.Sub Code: None< Remedy >

• Make the setting in advance so that the control group of the CALL/JUMP designation job is included in that of the CALL/JUMP source job.

• Do not start the job containing a control group already operating by using the "PSTART" instruc-tion.

AL-4475CANNOT EXECUTE JOB (NO ROBOT)This alarm occurs if the robot axis is not designated for the control-group of the job at execution of a work instruction that uses a manipulator.Sub Code: None< Remedy >Add the robot axis to the control-group of the job.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4476

CANNOT EDIT (EDIT LOCK JOB)This alarm occurs if an attempt is made to change the data for the job prohibited from being edited.Sub Code:

< Remedy >Release the prohibition, and then check the operation.

AL-4477SELECT ERROR (APPLICATION)This alarm occurs if the application selection parameter (parameter exclusive for manufacturer) is inconsistent with the application parameter (AP parameter) in work instruction execution.Sub Code: Application No.< Remedy >Specify an application appropriate to the specified robot when selecting the application in the mainte-nance mode.

AL-4480SELECT ERROR (SENSOR)This alarm occurs if the sensor application selection parameter (parameter exclusive for manufacturer) is inconsistent with the sensor parameter (SE parameter) in work instruction execution.Sub Code: Sensor No.< Remedy >Specify a sensor function appropriate to the specified robot when selecting the application in the main-tenance mode.

0: An attempt was made to change the tag data.

1: An attempt was made to change the speed tag data.

2: An attempt was made to change the board thickness tag data.

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AL-4487WRONG MECH PARAMETER FILEThis alarm occurs if an error is detected in mechanical parameter for the internal control section.Sub Code: None

AL-4490DEFECTIVE TAUGHT POINT(ENDLESS)This alarm occurs if endless operation cannot be performed due to setting failure.Sub Code

< Remedy >To perform an interpolation motion such as MOVL and MOVC after an Endless rotation, execute an MRESET instruction beforehand.

< Remedy >Check the parameter setting that designates the Endless rotation axis.

< Remedy >Check the parameter setting that designates the Endless rotation axis.

< Remedy >Correct the rotation amount so that the Endless axis does not exceed the maximum pulse value.

1: After the Endless rotation completed, an attempt was made to execute an interpolation instruction such as MOVL and MOVC before executing an MRESET instruction.

2: The base axis is set as an Endless rotation axis. The Endless function cannot be used with the base axis.

3: An attempt was made to execute the Endless function although the endless axis was not desig-nated.

4: The Endless axis exceeded the maximum pulse value (Å}536870911).


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4491CORRECTIONAL DIRECTION ERRORThis alarm occurs if an error is detected while the correcting direction is created.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4492POSITION CORRECTION ERRORThis alarm occurs if an error is detected in the calculation section for the correcting direction at path correcting motion.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code

AL-4493OVER TOOL FILE NO.This alarm occurs if the tool number for internal control is 49 or more.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code: None

4491 to 4493




The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4494DEFECTIVE TAUGHT POINT (WEAV)This alarm occurs if the weaving operation cannot be executed due to an incorrect teaching point set-ting.Sub Code

< Remedy >Check the position settings so that the weaving start point and end point are different.

< Remedy >Check the position settings so that the weaving start point, end point, and reference point are different.

AL-4495UNDEFINED ROBOT CALIBRATIONThis alarm occurs if the calibration between manipulators has not executed at coordinated motion.Sub Code: Control group for which calibration is not yet completed< Remedy >Execute the calibration between manipulators, and then check the operation.

AL-4496PARAMETER ERRORThis alarm occurs if a data error is detected during parameter setting.Sub Code

1: The weaving start point and end point are on the same point.

2:Among the weaving start point, end point, and reference point, two or three points are on the same point.



The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4497DEFECTIVE TAUGHT POINT (CALIB)This alarm occurs if teaching for calibration between manipulators is inappropriate.Sub Code

< Remedy >Perform the teaching again so that the teaching points are different from one another.

< Remedy >Perform the teaching again so that the teaching points are different from one another.

< Remedy >Perform the teaching again so that the 2nd-axis positions of C3, C4, and C5 of the station axes are the same.

< Remedy >Perform the teaching again so that the 1st-axis positions of C1, C2, and C3 of station axes are the same.

< Remedy >Perform the teaching again so that the teaching positions are different from one another.

< Remedy >Perform the teaching again so that the 1st-axis rotation direction of C3, C4, and C5 of station axes are the same.

< Remedy >Perform the teaching again so that the 1st-axis (elevation axis) positions of C1, C2, and C3 of station axes are the same.

< Remedy >Perform the teaching again so that the 1st-axis (elevation axis) positions of C3, C4, and C5 of station axes are the same.

1: Some of the teaching points for master-group are on the same point.

2: Some of the teaching points for slave-group are on the same point.

3: The 2nd-axis positions of C3, C4, and C5 of station axes are not the same.

4: The 1st-axis positions of C1, C2, and C3 of station axes are not the same.

5: The 2nd-axis positions of C1, C2, and C3 of station axes are the same.

6: The 1st-axis rotation direction of C3, C4, and C5 of station axes are not the same.

7: The 1st-axis (elevation axis) positions of C1, C2, and C3 of station axes are not the same.

8: The 1st-axis (elevation axis) positions of C3, C4, and C5 of station axes are not the same.

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AL-4498CANNOT EXECUTE JOB (NO GRP AXIS)This alarm occurs if an attempt is made to execute an instruction that cannot be executed in a job with-out control group.Sub Code: None< Remedy >Delete the instruction where an alarm occurred, and then check the operation.

AL-4499UNDEFINED POSITION VARIABLEThis alarm occurs if an attempt is made to use the position type variable that is not set.Sub Code: Variable No.< Remedy >Register the position type variable used by the instruction where an alarm occurred, and then check the operation.

AL-4500UNDEFINED USER FRAMEThis alarm occurs if an attempt is made to use the user coordinate that is not set.Sub Code: User coordinate No.< Remedy >Register the user coordinate used by the instruction where an alarm occurred, and then check the oper-ation.

AL-4501OUT OF RANGE (PARALLEL PROCESS)This alarm occurs if the number of tasks exceeds the limit in the independent control function.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code: Task No.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4505UNDEFINED POSITION FOR ARC ONThis alarm occurs if the Arc retry cannot be executed because there is no step before the ARCON instruction.Sub Code: None< Remedy >Register a step before the ARCON instruction.

AL-4506UNDEFINED POS FOR RESTART RETURNThis alarm occurs if the Arc-restart-return cannot be executed because there is no restart-return step in the job.Sub Code: None< Remedy >Change the job configuration so that the CALL job will not be used in the ARCON section.

AL-4507REFP POS ERROR (SEARCH MOTION)This alarm occurs if the search start point and the motion target point are the same, or the distance between the two points is too short.Sub Code: None< Remedy >

• Perform the teaching again so that the search start point and the motion target point are not the same.

• Increase the distance between the search start point and the motion target point.

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AL-4508

SPECIFIED ERROR (COORDINATE)This alarm occurs if an invalid coordinate system is specified.Sub Code:

< Remedy >Specify a valid coordinate system, and then check the operation.

AL-4509MFRAME ERRORThis alarm occurs if an error is detected at MFRAME execution.Sub Code

< Remedy >Execute the MFRAME instruction in the coordinate job when creating the master tool user coordinate.

AL-4510CANNOT EXECUTE INSTRUCTION (SQRT)This alarm occurs if an attempt is made to calculate the square root of negative value at SQRT instruc-tion execution.Sub Code: None< Remedy >Change the job so that the second argument of the SQRT instruction may not be a negative value and check operation.

0: The specified coordinate system does not exist.

1: Designation error of the master tool coordinate system. This coordinate system cannot be used.

2: Designation error of the tool coordinate system. This coordinate system cannot be used.

3: Designation error of the traveling direction coordinate system (for shared function). This coordi-nate system cannot be used.

4: Designation error of the any direction coordinate system (for shared function). This coordinate system cannot be used.

5: Designation error of the approximate tool coordinate system (for shared function). This coordinate system cannot be used.

6: Designation error of the conveyor coordinate system. This coordinate system cannot be used.

8: Designation error of the COMARC coordinate system. This coordinate system cannot be used.

9: Designation error of the power sensor coordinate system. This coordinate system cannot be used.

10: Designation error of the cylindrical coordinate system. This coordinate system cannot be used.

11: Designation error of the coordinate system for the external reference point. This coordinate sys-tem cannot be used.

12: Designation error of the coordinate system for 3D shifting. This coordinate system cannot be used.

15: Designation error of the coordinate system at IMOV for 3D shifting. This coordinate system can-not be used.

16: Designation error of the H-LINK type cylindrical coordinate system. This coordinate system can-not be used.

17: Designation error of the FSER_FRAME type cylindrical coordinate system. This coordinate sys-tem cannot be used.

1: The master tool user coordinate is cannot be created.

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AL-4511DROP-VALUE OUT OF RANGEThe 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.Sub Code: Control group exceeding the allowable value

The alarm occurs.

Alarm?Yes No

Alarm?Yes NO

Turn the servo ON after resettingthe alarm.

If the robot has the heavy load, reduce it.


Alarm?Yes No

The break failure is suspected. Replace the motor.

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AL-4512TWO STEPS SAME LINE (3 STEPS)This alarm occurs if three or more teaching points are aligned in a straight line in the user coordinates for calibration between manipulators.Sub Code: None< Remedy >Check the setting so that the teaching points are not aligned in a straight line.

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AL-4513EXCESSIVE SEGMENT (SAFETY 1): LOWThis alarm occurs if the operation command which exceeds the designated max. speed is output.It may occur when the robot operates near the singular point or when the robot is going to change its ori-entation widely with single control point.Sub Code: Signifies the alarm occurring axes

AL-4514

EXCESSIVE SEGMENT (SAFETY 1): HIGHThis alarm occurs if the operation command which exceeds the designated max. speed is output.It may occur when the robot operates near the singular point or when the robot is going to change its ori-entation widely with single control point.Sub Code: Signifies the alarm occurring axes

Change the manipulator positionin or before the step where the alarm occurred.* Be careful to the peripheral interference since its movement changes.

The alarm occurs.

End of correctivemeasures.


Alarm?Yes No

Alarm?Yes No


Alarm?Yes No


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AL-4515EXCESSIVE SEGMENT (SAFETY 2): LOWThis alarm occurs if the operation command which exceeds the designated max. speed is output.It may occur when the robot operates near the singular point or when the robot is going to change its ori-entation widely with single control point.Sub Code: Signifies the alarm occurring axes

AL-4516

EXCESSIVE SEGMENT (SAFETY 2): HIGHThis alarm occurs if the operation command which exceeds the designated max. speed is output.It may occur when the robot operates near the singular point or when the robot is going to change its ori-entation widely with single control point.Sub Code: Signifies the alarm occurring axes

The alarm occurs.

Connecting statusShort-circuited

Open

Alarm?Yes No

Chekc if the slow speed mode select signal is opened. (No. 27-28 of the robot system input terminal block)


Contact your Yaskawa representative.End of correctivemeasures.

Alarm?Yes No


Alarm?Yes No


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AL-4517SEARCH MONITOR SET ERROR (SERVO)This alarm occurs if an error is detected in search/monitoring mode settings.Sub Code: Control group

AL-4518

SEARCH MON RELEASE ERR (SERVO)This alarm occurs if an error is detected in search/monitoring mode releasing.Sub Code: Control group

4517/4518

AL-4521WRONG JOB TYPEThis alarm occurs if the job type is inconsistent.

Sub Code

< Remedy >Change the type of job will be started before starting.

AL-4524CANNOT EXECUTE INST (COUCUR JOB)This alarm occurs if there is an unexecutable instruction such as move instruction in the concurrent job.Sub Code: None< Remedy >Delete the instruction where an alarm occurred, and then check the operation.

0000_0001: A robot job was started from the concurrent job at CALL/JUMP instruction execution.

0000_1001: A concurrent job was started from the robot job at CALL/JUMP instruction execution.

1000_0001: A system job was started from the robot job at CALL/JUMP instruction execution.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4527UNDEFINED PORT NO. (AOUT)This alarm occurs if the incorrect analog output port number is specified.Sub Code: None< Remedy >Change the setting of the specified analog output port number.

AL-4528

SYNTAX ERRORThis alarm occurs if an error is detected in the instruction syntax.

Sub Code1: An error occurred in the IF statement syntax.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4529TWIN COORDINATED ERRORThis alarm occurs if an error is detected at twin synchronization execution.Sub Code

< Remedy >Check the control group setting for the job started by SYNC instruction.



1: A job without control group was started by SYNC instruction.

2: A job without master control group was started by SYNC instruction.

3: A job only with master control group axes was started by SYNC instruction.

4: At full synchronization, the completion timings of move instructions for the master and the slave disagreed.

5: At full synchronization, no operation request from the master was sent.

6: At full synchronization, the execution timings of move instructions for the master and the slave disagreed.

7: The twin synchronization ID number is incorrect.

8: Triple synchronization was attempted using the sub/master specification on a different master.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4534TORQUE INTERFERENCE OVERThe torque assumed value to the axis exceeded the allowable value during acceleration/deceleration operation.Sub Code: None

The alarm occurs.

Alarm?Yes No

Alarm?Yes No

Correctly set the weight information in the tool file. ( Are the weight: W and the number set to the load value of either Xg, Yg or Zg?)

Slower the speed in the step where the alarm occurred.


Alarm?Yes No

Change he position and orientation in the step where the alarm occurred.

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AL-4542MRESET ERRORThis alarm occurs if an error is detected at MRESET instruction execution.Sub Code

< Remedy >Designate the endless axis, and then check the operation.

AL-4543STACK LESS THAN 0 (JOB CALL)This alarm occurs if an error is detected during job call stack control.Sub Code: None

AL-4546CANNOT EXCUTE SYSTEM JOBThis alarm occurs if an error is detected in the starting system number of system job.Sub Code: System number

4543/4546

1: A MRESET instruction was executed while no endless axis was designated.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4550CANNOT EXECUTE INST (USER JOB)This alarm occurs if an instruction that can be executed only in a system job is attempted in a user job.Sub Code: System number< Remedy >Delete the instruction where an alarm occurred, and then check the operation.

AL-4551CANNOT MEASURE TIP INSTALL COEFThis alarm occurs if the fixed-side electrode installation correction value is not measured when "SVGUNCL TWC-BE" is executed.Sub Code: Gun number< Remedy >Execute "SVGUNCL TWC-AE" before executing "SVGUNCL TWC=BE."

AL-4566USER FRAME MAKING ERRORThis alarm occurs if an error is detected at preparation of a user coordinates.Sub Code

AL-4571SERVO FLOAT MODE RELEASE ERRThis alarm occurs if the servo float mode cannot be reset when executing a FLOATOF instruction.Sub Code: None

4566/4571



The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4572UNDEFINED MOTOR GUN CONTROL GRPThis alarm occurs if the control group for the motor gun is not set.Sub Code: None< Remedy >Specify the "motor gun axis" under control group settings in the maintenance mode.

AL-4573SPOT WELDER NO. ERRORThis alarm occurs if the spot welder number is incorrect.Sub Code: Welder number< Remedy >Change the "POWER SOURCE NO." in the gun condition file.

AL-4574SPOT WELD COMPLETE TIME LIMITThis alarm occurs if neither the welding completion signal nor the welding error signal is received from the timer conductor within the set time.Sub Code: Welder number< Remedy >

• Turn the timer contactor ON.• If the response from the timer takes too long time due to the system layout, increase the set time.

AL-4575ERROR IN WELD START TIMING SETFor motor gun, this alarm occurs if the welding timing is set to "After First Pressure" while no 2nd pres-sure is set.Sub Code: None< Remedy >

• Check the setting of the WST tag.• Check the setting of the pressure file.

AL-4576ERR IN MOTOR GUN CONT MODEThis alarm occurs if the motor gun control mode cannot be set when executing a SVSPOT/SVGUNCL instruction.Sub Code: None

AL-4577ERR IN MOTOR GUN MODE RLSEThis alarm occurs if the motor gun control mode cannot be release when executing a SVSPOT/SVGUNCL instruction.Sub Code: None

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4576/4577

AL-4578SPOT WELD ERRORThis alarm occurs if an error occurs when executing welding using the specified system timer conduc-tor.Sub Code: Welder number< Remedy >Check the setting of the timer conductor where the welding error occurred.

AL-4579ANTICIPATION CONTROL ERRORThis alarm occurs if an error is detected in the anticipation control processing.Sub Code

< Remedy >Up to five anticipation control sessions can be executed at the same time. Check the job setting so that the number of control sessions may be within five.

AL-4581DEFECTIVE ANTICIPATION OUT FILEThis alarm occurs if an error is detected in the anticipation output file.Sub Code

< Remedy >Change the OT/OG output number within the range.

1: No availability in anticipation control

2: The anticipation data exceeded the maximum length.

1: Incorrect setting of OT output number for anticipation output file

2: Incorrect setting of OG output number for anticipation output file


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4587MOTOR GUN CHANGE ERRORThis alarm occurs if an error is detected when changing the gun.Sub Code

< Remedy >Enable the gun change function parameter.

< Remedy >Execute GUNCHG/PICK instruction when the motor gun motor is servo OFF.

< Remedy >Execute GUNCHG/PICK instruction when the ATC is in chuck status.

< Remedy >Execute GUNCHG/PLACE instruction when the ATC is in chuck status.

< Remedy >(1) Reset the alarm, and then try again.(2) If the alarm occurs again, check the connection and insertion statuses of the following cables and

connectors.• Encoder cable of motor gun

< Remedy >(1) Reset the alarm, and then try again.(2) If the alarm occurs again, check the connection and insertion statuses of the following cables and

connectors.• Encoder cable of motor gun

< Remedy >(1) Check the following settings.

• Change the gun condition file number of GUNCHG instruction to the target gun number.• Change the gun identification signal to the target gun number.

1: A GUNCHG instruction was executed in the system configuration that did not allow the gun change function.

2: A GUNCHG/PICK instruction was executed while the motor gun motor was servo ON.

3: A GUNCHG/PICK instruction was executed while the ATC was in unchuck status.

4: A GUNCHG/PLACE instruction was executed while the ATC was in unchuck status.

5: The encoder power supply could not be turned ON when executing a GUNCHG/PICK instruction.

6: The encoder power supply could not be turned OFF when executing a GUNCHG/PLACE instruc-tion.

7: The gun number specified by the GUNCHG instruction did not agree with the gun identification signal.

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AL-4591SPEED CTRL MODE SET ERR (SERVO)This alarm occurs if the speed control mode cannot be set during execution of VCON instruction.Sub Code: None

AL-4592SPEED CTRL MODE CANCEL ERR (SV)This alarm occurs if the speed control mode cannot be release during execution of VCON instruction.Sub Code: None

AL-4597OFFLINE DATA TRANSMISSION ERRORThis alarm occurs if an internal control error occurs at offline position data conversion.Sub Code: None

AL-4599SERVO COMMAND ERRORThis alarm occurs if the operation request cannot be issued to the servo processing section.The RAM data failure in the NCP01 board may also cause this alarm.Sub Code: None

4591/4592/4597/4599

AL-4601UNDEFINED GUN COND FILEThis alarm occurs if the motor gun condition file is not set.Sub Code: Motor gun condition file number< Remedy >Complete the settings for the motor gun condition file, and then check the operation.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4603WIRE STICKINGThis alarm occurs if wire stick was detected at the welder.Sub Code: Welder number< Remedy >Remove the cause of wire stick, and then check the operation.

AL-4606LACK OF GLOBAL VARIABLE AREAThis alarm occurs if an error is detected in the value of parameter that defines the number of global (user) variables.Sub Code: None

AL-4607WRONG EXECUTION OF MACRO INSTThis alarm occurs if an error is detected when executing a macro instruction.Sub Code

4606/4607

AL-4608WRONG EXECUTION OF GETARG INSTThis alarm occurs if an error is detected when executing a GETARG instruction.Sub Code

< Remedy >Modify the job so that data passed by a macro instruction matches the tag setting of GETARG instruc-tion.


1: The job argument is not set.

2: No number of the specified job argument

3: The data types of job argument disagreed.


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4612TSYNC ERRORThis alarm occurs if an error is detected when executing a TSYNC instruction.Sub Code: The number of synchronizations of the first executed TSYNC< Remedy >Modify the job so that the number of synchronizations specified by the TSYNC instruction matches the number of used TSYNCs.

AL-4621WELD COMPLETE SIGNAL ERRORThis alarm occurs if the welding completion signal is ON when starting the spot welding instruction exe-cution.Sub Code: Welder numberModify the job so that the spot instruction is not executed when the welding completion signal is ON.

AL-4622SELF-INTERFERENCEThis alarm occurs if a robot link or tool attempts to interfere operation.Sub Code: Robot numberModify the teaching point to the point not interfered by the robot and check operation.

AL-4652TRQ MEASURE MODE SET ERR (SV)This alarm occurs if the constant speed torque measurement mode cannot be set during execution of MEASON instruction.Sub Code: None

AL-4653TRQ MEASURE MODE CANCEL ERR (SV)This alarm occurs if the constant speed torque measurement mode cannot be cleared during execution of MEASOF instruction.Sub Code: None

4652/4653


The alarm occurs.



Alarm? NoYes

Alarm?NoYes

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AL-4800WDT ERROR (CONVERTER)The NX100 system is equipped with a watchdog timer in the converter.This alarm occurs if the watchdog time-out is detected.As a cause of the alarm, a failure in the converter is suspected. In rare cases, the alarm may be caused by a noise interference.Sub Code: Signifies the physical No. of converter in which the alarm occurred


Check the cable connections between AXA01 board, AXB01 board, and converter. AXA01-CN01� AXB01-CN08-10 Converter-CN1� EV1SV-CN1(Refer to Appendix 2-1, 5-1, 6-1.)



The alarm occurs.

Alarm?NoYes


Alarm?NoYes

Alarm?NoYes

Alarm?NoYes





Converter failure



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AL-4901CUBE/AXIS INTERFERENCEThis alarm occurs if the robot moves into the specified cube area or exceeds the maximum or minimum value of axis interference.Sub Code: Signifies the control group, axis No., and interference area No. in which the alarm occurred< Remedy >

• Change the teaching point so that the step where the alarm occurred (move instruction) may be out of the interference area.

• Change the interference area setting.

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AL-4332

SPEED CTRL MODE CHANGE ERR (SV)This alarm occurs if the speed control does not start after a certain time from the execution of CVON instruction.The registered inertia ratio dose not match with the actual mechanism or defective speed reducer or motor is suspected as the alarm cause. In rare cases, however, the cause is attributed to a disconnec-tion of motor power cables or an error in the amplifier.Sub Code: Signifies the axis in which the alarm occurred

Save the current data in the NX100.

Alarm?No

No

Yes

Alarm?NoYes

Alarm?

Disconnected?

No

No

Yes

Amplifier failure

Continued to the next page

Defective motor power cableNoYes

Alarm?NoYes

Yes

YesExternal axis?


Check that the axis where the alarm occurred is an external axis or not.

Check the cable connecting statusaround converter, amplifier, orAXA board.

Check the conduction of motor power cable phase of UVW. (U-V, U-W, and V-W)

Replace the motor power cableor connector part.

Replace the amplifier (Refer to Appendix 5-1, 6-1.)

Check the motion by increasing the load inertia 100 by 100 to the current settings in the maintenancemode. In case rasping sound is heard, check the motion by decre-asing the load inertia100 by 100.


Inertia ratio setting error

The alarm occurs.


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Continued from the previous page

Normal?

Check the maximum torque, gear interlocking, and motion of the motor itself.

Alarm?NoYes

Alarm?NoYes

Alarm?NoYes Defective motor

Replace the motor.

Replace the speed reducer or

its grease.

Check the sound and vibration

of the speed reducer.

NoYes

Normal?NoYes

Measure the level of iron powder contained in the speed reducer grease and execute maintenance.


Defective speed reducer

Insufficient maintenance

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Appendix 1-1 Internal Layout Drawings

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Appendixes

Appendix 1-1 Internal Layout Drawings EA1400N

Front View

Back View(Without Cover) Section A-A’

Regenerative resistor(220 W, 12.5 )

Duct fan on the backside:4715MS-22T-B50-B00(For air inlet)

Power supply contactor unit:JZRCR-NTU01-1

Input terminal block for manipulator (MXT)

Breaker:NF30SW 3P 10A

Manipulator interfaceunit: JZNC-NIF01

Basic axis control board: SGDR-AXA01A

Control power:CPS-420F

CPU unit:JZNC-NRK01

Welding circuit board:JANCD-XEW02

SERVO PACK:SGDR-EA1400N

Emergency stop button:AR22V2R-04R

Interior circulation fan: 4715MS-22T-B50-B00(Air flows up)

A

A’

(EV1) (EV2)

(EV3) (EV4)

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Appendix 1-1 Internal Layout Drawings162074-1CD

ES165N

Front View

Back View(Without Cover)

Section A-A’

A’

A Manipulator interfaceunit: JZNC-NIF01

Basic axis control board: SGDR-AXA01A

Control power:CPS-420F

CPU unit:JZNC-NRK01

Converter:SGDR-COA250A01B

SERVO PACK:SGDR-ES165N

Power supply contactor unit:JZRCR-NTU02-1

Breaker:NF30SW 3P 30A

Emergency stop button:AR22V2R-04R

Regenerative resistor(1500 W, 6 )

Duct fan on the backside:5915PC-22T-B30-B00(For air inlet)

Input terminal block for manipulator (MXT)

Interior circulation fan: 4715MS-22T-B50-B00(Air flows up)

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Appendix 2-1 Block Diagrams

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Appendix 2-1 Block Diagrams

EA1400N

ES165N

Breaker

CBL-NXC002-3

JXRCR-NTU01Power Supply Unit

Fan

Regenerative Resistor

Manipulator

SERVO PACK

CPU UnitJZNC-NRK01

EmergencyStop Button

MXT

Relay Terminal Block

ProgrammingPendant

CBL-NXC009-1

CBL-NXC010-1CBL-NXC010-1

Welding Board(JANCD-XEW02)

CBL-NXC004-3CBL-NXC005-5CBL-NXC005-6CBL-NXC005-7HB0270586-1

CBL-NXC001-6

CBL-NXC001-3

CBL-NXC001-7

HB0270587-1HB0270586-1

CBL-

NXC0

10-1

Breaker

CBL-NXC002-3

JXRCR-NTU02Power Supply Unit

Fan

CPU UnitJZNC-NRK01

EmergencyStop Button

MXT

Relay Terminal Block

ProgrammingPendant

CBL-NXC009-2

CBL-NXC010-2CBL-NXC010-2

CBL-NXC004-3CBL-NXC005-8CBL-NXC005-9CBL-NXC005-10HB0270586-2

CBL-NXC001-6

CBL-NXC001-7

Regenerative Resistor

Manipulator

SERVO PACK

HB0270588-1HB0270586-2

HB02

7060

9-1

CBL-

NXC0

10-2

298

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Appendix 3-1 CPU Unit162074-1CD

Appendix 3-1 CPU Unit

External View of a Typical CPU Unit

The JZNC-NRK01 CPU unit contains only circuit board racks and control circuit boards. It does not contain the control power supply, robot interface unit, and major axis control cir-cuit board.

NOTE

TYPE JANCD-NCP01TYPE JANCD-NCP01

Control power supply unitCPS-420F

Major axis controlcircuit boardSGDR-AXA01A

Monitor alarm display LED

(CN05)24 VDC output


(CN01)AC200V Input

(CN03)24 VDC output

(CN02)Remote control

(CN04)24 VDC output

Covers

(CN05)PWM signal

(CN06)PWM signal

(CN07)Encoder signal

(CN04)PWM signal

Front View (With Covers)

Control circuit boardJANCD-NCP01

CPU

REV

0

DATE

LED1

CN

SP

1


(F1, F2)24V fuse for I/O

(CNSP1)Emergency stop

Robot interface unitJZNC-NIF01

VIDEO

IDEC

NR

I

CN

TU

CN

M

CNFAN

CN

RO

PS2

USB1(L)USB1(R)

ATX

CN

BA

T

(CNTU)TU hot line I/O

(CNM)Robot system input

Battery

(CN12)External power supply connection

(CN11)24VDC output

(CN07,CN08,CN09,CN10)User I/O

Compact Flash

Front View (Without Covers)

KJHVUT

282930

080910181920

GFEDCSRQPN

Co.,Ltd.

23242526

0304050613141516

JAPAN

27

0717

BAML

DATEFuji

21

0111

No.

POWERCPS-NX1

Electric

22

0212

SUPPLY

+5VSB

+5V

+24V

OTHER

FAN

PON

CN05(+24V1)

CN04(+24V2)

OHT

SOURCE

CN01(AC IN)

INPUT

3A50/60Hz

200-240V AC

(TU)CN03

(REMOTE)CN02

(CN03)I/O communication

(CN02)RIF communication

(CN01)Converter signal

(CN06)Programming pendant hot line

(CN03)I/O; Interface

(CN02)Drive interface 2

(CN04)Interface between controllers

Bottom View

(CN01)Drive interface 1

(LAN1)Programming pendant

TYPE JANCD-NCP01

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Appendix 3-1 CPU Unit

162074-1CD

External View of JZNC-NRK02-

Major axis controlcircuit board SGDR-AXA01A

Control power supply unit CPS-420F

(CN05)24 VDC output(CN04)24 VDC output

(CN03)24 VDC output

(CN02)Remote control

(CN01)200 VAC input

(CNTU)TU hot line I/O

(CNM)Manipulator input

(CNRI, CNRO)Communicationsbetween backboards

(CN07) Encoder signal

(CN06) PWM signal

(CN05)PWM signal

(CN04)PWM signal

Cover

Front View(With Cover)Front View

(Without Cover)

(CN03)I/O communications

(CN02)Robot interface communications

(CN01)Converter signal

Bottom View



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Appendix 4-1 Power Supply Contactor Unit162074-1CD

Appendix 4-1 Power Supply Contactor Unit JZRCR-NTU01

JZRCR-NTU02

NJ20

96-

DATE

SER

NO.

JAPA

N

TYPE

YASK

AWA

ELE

CTRI

C C

ORPO

RATI

ON

CN

085A

125V

3FU

CN

06C

N07

CN

05C

N04

FF

EE

UUFF

EE

SS

2FU10A 250V

UUSS

1FU10A 250V

4X

CN03

CN02

CN

01S

W1

3X

2X

1X

(4X)Main power supply input

(1FU)(2FU)Fuse for AC control power supply326010 (10A; 250V)

(CN07)Robot connection

(CN06)External signal connection

(CN08)Brake output connector

(3FU)Fuse for brake SMP50 (5A; 125V)

Power supply contactor sequence circuit boardJANCD-NTU01-

(S1)Switch for MECHATROLINK station setting

(2KM) Contactor

(1Z) Line filter

(1KM) Contactor

(1X)Converter output

(2X)AC fan power supply

(3X)CPS power supply output

(CN02)24 VDC input

(CN01)Servo interface

(CN03)24 VDC input

(CN05)(CN04)TU hot line I/O

After replacing the power supply unit, confirm that the MECHATROLINK station setting is same as before the replacement.

NJ20

96-

DATE

SER

NO.

JAPA

N

TYPE

YASK

AWA

ELE

CTRI

C C

ORPO

RATI

ON

CN

083F

U 5A 12

5V

SS

EE

FF UU

10A 250V2FU

CN

07C

N06

CN

05C

N04

4X

EE

FF

1FU10A 250V

SSUU

CN03

CN02

CN

01S

W1

3X

2X

1X

(CN08)Brake output connector

(CN07)Robot connection

(CN06)External signal connector

(3FU)Fuse for brake SMP50 (5A; 125V)

Power supply contactor sequence circuit boardJANCD-NTU01-(4X)

Main power supply input

(1FU)(2FU)Fuse for AC controlpower supply326010 (10A; 250V)

(CN05)(CN04)TU hot line I/O

(CN02)24 VDC input

(S1)Switch for MECHATROLINK station setting

(CN03)24 VDC input

(CN01)Servo interface

(1KM) Contactor

(2KM) Contactor

(1Z) Line filter

(1X) Converter output

(2X) AC fan power supply

(3X) CPS power supply output

After replacing the power supply unit, confirm that the MECHATROLINK station setting is same as before the replacement.

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Appendix 5-1 SERVO PACK

162074-1CD

Appendix 5-1 SERVO PACK HP6 and EA1400N

Charge lampConverter Top grip


(CN1)Converter control signal

(CN101)DC control power supply

(CNP1)Three-phase AC power supply

(CNP3) Regenerative resistor

Ground terminalBottom grip

(CNP11)AC control power supply

(AMP4 to AMP6-CNP6)Motor power output

(AMP4 to AMP6-CN1)PWM signal

(AMP1 to AMP3-CN1)PWM signal

(AMP1 to AMP3-CNP6)Motor power output

PWM amplifier X6

(CN102)PWM amplifier control power supply

302

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Appendix 5-1 SERVO PACK162074-1CD

ES165N and HP165

(AMP4 to AMP6-CN1) PWM signal

(AMP4 to AMP6-CNP6) Motor power output

PWM amplifier X6

(AMP1 to AMP3-CNP6) Motor power output

(AMP1 to AMP3-CN1) PWM signal

SERVOPACK

Top gripTop gripConverter

Charge lamp

(CN102)PWM amplifier control power supply

(CN101)DC control power supply


Bottom grip

(CN1)Converter control signal

(CNP1)Three-phase AC power supply

(CNP11)AC control power supply

Ground terminal

Ground terminal

(CNP4)PN power supply

(CNP3)Regenerative resistor

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Appendix 6-1 SERVO PACK for External Axes

162074-1CD

Appendix 6-1 SERVO PACK for External Axes

(CN1)I/O signal connection

(CN2)Encoder connection

(CNP2)Control power input

(CNP5)External condenser connection

(CNP3)External regenerative resistor connection

(CNP16)Motor connection terminal

Ground terminal

(CNP1)Main circuit power input

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Appendix 7-1 Brake Release Unit162074-1CD

Appendix 7-1 Brake Release Unit

External View of JZRCR-NBU05-2

The following figure shows the external view of a typical brake release unit. The number of switches and fuses and their layouts may vary depending on the use of axes to be released.

NOTE

Break Release

Break Release

(FU11)Manipulator axis brake release fuse

(R-CN5)Manipulator axis brake output

(FU12, 13)External axis brake power fuse

(FU14)External axis brake release fuse

(CN11)Interlock signal(Manipulator axes)

(CN12)Manual release power (Manipulator axes)

(CN13)Brake release power in SERVO ON(Manipulator axes)

(R0CN5)External axis brake output

(CN14)Interlock signal(External axes)

(CN15)Manual release power (External axes)

(CN16)Brake release power in SERVO ON(External axes)

JZRCR-NBU05-2 (External View)

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162074-1CD

Internal Connections of JZRCR-NBU05-2 (1/2)

BlueBlue

Blue/WhiteBlue/White

187Fasten

306

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Appendix 7-1 Brake Release Unit162074-1CD

Internal Connections of JZRCR-NBU05-2 (2/2)

187 Fasten 187 Fasten

187 Fasten

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162074-1CD

Measuring the Output Voltage of the Brake Release Unit

1. Remove the connector R-CN5 or EX-CN5 connected to the brake release unit.

2. While the servo power is ON, measure the voltage output from the R-CN5 or EX-CN5 connector on the brake release unit with a tester.

If the brake release unit operates properly, the measured output voltage of each axis is as follows:

Output Voltage of R-CN5

Output Voltage of EX-CN5

*1 The output voltage varies depending on the specifications of external axis motors. Since the 90 VDC is generated from the half-wave rectified 200 VAC, the output volt-age may become as much as 280 VDC depending on the tester used for measure-ment.

Pin Assignment of R-CN5 and EX-CN5

Axis Name Pin No.(Positive Side)

Pin No.(0 V Side)

Output Voltage

S-axis B1

A1 and A2 24 VDC

L-axis C1

U-axis D1

R-axis B2

B-axis C2

T-axis D2

Axis Name Pin No.(Positive Side)

Pin No.(0 V Side)

Output Voltage*1

External axis 1 B1

A1 and A2 24 VDC or 90 VDC

External axis 2 C1

External axis 3 D1

External axis 4 B2

External axis 5 C2

External axis 6 D2

D C B A

321

308

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Appendix 8-1 Internal Connections and Alarms of the NX100162074-1CD

Appendix 8-1 Internal Connections and Alarms of the NX100

Several types of connectors are used in the NX100 controller.When removing/reinserting the connectors to replace units, ensure that each connector is properly connected to avoid the alarm caused by a loose connection.

A list on the following pages shows the alarms caused by connection failures.

• Some connectors have individual alarm signals assigned, and disconnection of such connectors may cause the same alarm as the one occurred in the connected external device. (e.g. SHOCK SENSOR ACTIVATION)

• For location of each connector, refer to Appendix 3-1 to 6-1.

• A connector code can be identified as the following example. e.g. NIF-CN01: CN01 of JZNC-NIF01.

Identify the rest of the connector codes in the same manner as follows:

AXA-CN: a connector on SGDR-AXA01A.

AXB-CN: a connector on SGDR-AXB01 (child circuit board of AXA).

NBB-CN: a connector on the back board.

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162074-1CD

The alarms caused by connection failures

Connector Code Alarm No. (4xxx signifies Major Failure)

Message Sub Code Remarks

AXA-CN011343

COMMUNICATION ERROR (CONVERTER)

[102]

4359 CONVERTER ERROR [0000······0001]

AXA-CN02

0021COMMUNICATION ERROR (SERVO)

[50]

0100COMMUNICATION ERROR (AXA#1)

[1]

0020CPU COMMUNICA-TION ERROR

[50]

AXA-CN03 1302COMMUNICATION ERROR (SERVO I/O)

[112]

AXA-CN04

4306AMPLIFIER READY SIGNAL ERROR

-

1514OVERHEAT (AMPLI-FIER)

-

1306AMPLIFIER TYPE MIS-MATCH

-

AXA-CN05


-


-


-

AXA-CN06


-


-


-

AXA-CN07 1325COMMUNICATION ERROR (ENCODER)

-

NTU-CN01 1302COMMUNICATION ERROR (SERVO I/O)

[112]

NTU-CN02 1302COMMUNICATION ERROR (SERVO I/O)

[112]

NTU-CN04 1345SAFETY CIRCUIT SIGNAL UNMATCH (SERVO)

[102]

NTU-CN06

4101OVERRUN (EXTER-NAL AXIS)

[0000······0001]

1345SAFETY CIRCUIT SIGNAL UNMATCH (SERVO)

[105]

1503SAFETY CIRCUIT IN FAULT (SV I/O)

[0000······0001]

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NTU-CN07

4110SHOCK SENSOR ACTIVATION

[0000······0001]

4100OVERRUN (ROBOT AXIS)

[0000······0001]

NTU-CN08 4328SERVO TRACKING ERROR

- Occurs when SERVO power is ON.

NTU-1X 4304CONVERTER INPUT POWER ERROR

[0000······0001] Occurs when SERVO power is ON.

NTU-2X (Upper Side) - - -Power is turned OFF when uncon-nected.

NTU-2X (Lower Side) - - -

NTU-3X - - - Cooling fan EV1 and EV2 stop.

NTU-4X - - -Power is turned OFF when uncon-nected.

NIF-CN01

0021COMMUNICATION ERROR (SERVO)

[50]

0100COMMUNICATION ERROR (AXA#1)

[1]

NIF-CN03 1204COMMUNICATION ERROR (IO MODULE)

[0000······0010]

NIF-CN06 - - -Power is turned OFF when uncon-nected.

NIF-CN11 1204COMMUNICATION ERROR (IO MODULE)

[0000······0010]

NIF-CN12 4109DC 24V POWER SUPPLY FAILURE (I/O)

[0000······0011]

NIF-F1 4109DC 24V POWER SUPPLY FAILURE (I/O)

[0000······0011]

NIF-F2 4109DC 24V POWER SUPPLY FAILURE (I/O)

[0000······0011]

CV1-CN1 1343COMMUNICATION ERROR (CONVERTER)

[102]

CV1-CNP11 - - -

CV1-CN101


-

1343COMMUNICATION ERROR (CONVERTER)

[102]

CV1-CN102 4306AMPLIFIER READY SIGNAL ERROR

-

NCP-LAN1 - - -

A msg "Program-ming pendant is dis-connected" appears on blank screen.



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162074-1CD

NBB-CNSP1 - - -

A msg "Robot is stopped by P.PANEL emergency stop" appears.

NBB-CNPU 1345SAFETY CIRCUIT SIGNAL UNMATCH (SERVO)

[105]

NBB-CNM - - -

SV1-AMP*-CNP4 4306AMPLIFIER READY SIGNAL ERROR

-

*Signifies AMP1 to 6. (Each alarm is common for all amplifiers.)

SV1-AMP*-CNP6


-


-


-

4328SERVO TRACKING ERROR

-

Occurs when SERVO power is ON.


SV1-AMP*-PN 4328SERVO TRACKING ERROR

-

Occurs when SERVO power is ON.


AXB-CN08

1325COMMUNICATION ERROR (ENCODER)

-


[202]


[302]

EX1SV-CNP2


-


[202]

EX1SV-CN1


-


[202]

EX1SV-CN2 1325COMMUNICATION ERROR (ENCODER)

-

EX1SV-CNP1 4304CONVERTER INPUT POWER ERROR


EX1SV-CNP3 4338REGENERATION TROUBLE(CONVERTER)




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This section explains the typical connectors used and instructions on how to connect them.

• Tyco (AMP) ConnectorInsert the connector securely until it clicks.

• WAGO ConnectorInsert the connector pushing all the way in. Make sure that the connector fully contacts the socket without leaving any gap.

• SERVO Board ConnectorInsert the connector and fix it with two screws

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162074-1CD

• SERVO PACK ConnectorInsert the connector securely until it clicks.

• Mechatro Link ConnectorInsert the connector securely until it clicks.

• Ethernet Connector for Program-ming PendantInsert the connector securely until it clicks.

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• I/O ConnectorInsert the connector and fix it with two screws.

• Flat Cable ConnectorInsert the connector pushing all the way in, and lift up the lock to fix it.

• Connector for Communications (DeviceNet, etc.)Insert the connector and fix it with two screws.

HW0483057

NX100 OPTIONSINSTRUCTIONSFOR TROUBLESHOOTING

HW0483057MANUAL NO.

6

Specifications are subject to change without noticefor ongoing product modifications and improvements.

NX100 OPTIONS INSTRUCTIONS - Motoman · 2018-12-11 · v 162074-1CD HW0483057 Definition of Terms...

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Transcript of NX100 OPTIONS INSTRUCTIONS - Motoman · 2018-12-11 · v 162074-1CD HW0483057 Definition of Terms...