MOTOMAN NX100 Alarm List

MOTOMAN NX100
ALARM LIST
Upon receipt of this product and prior to
initial operation, read these instructions
thoroughly, and retain for future refer-
ence.
Document No: MRS6102GB.0.U

Reference list
This manual is a revised version of the YEC document:

RE-CHO-A104 rev.0
Reference list
031209
First release of this document.
040331
Renamed and corrected.
Page 2 Revised: 04-03-31 NX_framsida eng.fm

Alarm list
1. Alarm 5
Outline of alarm ............................................................................................5
2. Alarm display 6
Displaying and releasing alarm ...................................................................6
Special alarm display ....................................................................................7
3. Alarm message list 9

Alarm series 0000 ..........................................................................................9
Alarm series 1000 ........................................................................................14
Alarm series 4000 ........................................................................................36
Mrs6102GB.0.UTOC.fm Revised: 04-03-31 Page 3

Alarm list
Page 4 Revised: 04-03-31 Mrs6102GB.0.UTOC.fm

Alarm list
Outline of alarm
MOTOMAN NX100 alarm list

1. Alarm
1.1 Outline of alarm
When an alarm of level 0 to 3 (major alarm) occurs, the servo power supply is turned OFF.
Alarm code classification
Alarm code Alarm level Alarm reset method
It is not possible to reset by "RESET" under the

Level 0 (Major alarm) ALARM window or the system input signal
0 (Off line alarm : Initial diagnosis/ (Alarm reset). Turn OFF the main power supply
Hardware diagnosis alarm) and correct the cause of the alarm. Then turn ON
the main power supply again.
It is not possible to reset by "RESET" under the

1 ALARM window or the system input signal
to Level 1 to 3 (Major alarm) (Alarm reset). Turn OFF the main power supply
3 and correct the cause of the alarm. Then turn ON
the main power supply again.
4 After correcting the cause, it is possible to reset

to Level 4 to 8 (Minor alarm) by "RESET" under the ALARM window or the
8 system input signal (Alarm reset).
After correcting the cause for which the system

input signal for the system or user alarm request
Level 9 (Minor alarm)
9 turns ON, it is possible to reset by "RESET"
(I/O alarm)
under the ALARM window or the system input
signal (Alarm reset).
Mrs6102GB.fm Revised: 04-03-31 Page 5

Alarm list
Displaying and releasing alarm
2. Alarm display
2.1 Displaying and releasing alarm
If an alarm occurs during operation, the manipulator stops immediately and the ALARM win-
dow appears on the programming pendant indicating that the machine was stopped by an
alarm.
DATA EDIT DISPLAY UTILITY
ALARM
Alarm No. ALARM 4100 1 Sub-data

OVERRUN (ROBOT)
ALARM 4321 SLURBT
Alarm OVERLOAD (MOMENT)
ALARM 4315 SLURBT
message COLLISION DETECT
OCCUR TIMES: 1
RESET
Main Menu ShortCut
If more than one alarm occurs simultaneously, all the alarms are displayed. Scroll the viewing
area with the cursor key to view the alarm that is not currently displayed on the viewing area.
To view details of the alarm contents, move the cursor to the alarm and press [ASSIST].
DATA EDIT DISPLAY UTILITY
ALARM
ALARM 4100 1
OVERRUN (ROBOT)
[Cause]
One of the manipulator overrun limit switches activated.
[Remedy]
Move back the manipulator out of the overrun limit switch range.
OCCUR TIMES: 1
RESET
Main Menu ShortCut
The following operations are available in the alarm status: window change, mode change,
alarm reset, and emergency stop. If the window is changed to another window during alarm
occurrence, the ALARM window can be shown again by selecting {SYSTEM INFO} under the
main menu and then selecting {ALARM}.
Page 6 Revised: 04-03-31 Mrs6102GB.fm

Alarm list
Special alarm display
Releasing alarms
Alarms are classified by minor and major alarms.
Minor Alarms
Select "RESET" on the ALARM window or turn ON the "ALARM RESET" setting when
using an external input signal.
Major Alarms
Turn OFF the main power suply, remove the cause of the alarm, and then turn ON the
power supply again.
If a major alarm such as hardware failure occurs, servo power is automatically shut OFF
and the manipulator stops. If releasing does not work, turn OFF the main power and
correct the cause of the alarm.
2.2 Special alarm display

Sub data
Sub data such as data for the axis where the alarm occurred, may also be displayed for some
alarms.
Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
Binary data
The alarm occurrence data becomes “1.”
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 4 [ S L U R B T ]
With base axis: Robots 1 to 4 [ 1 2 3 ]
With station axis: Stations 1 to 6 [ 1 2 3 ]
XYZ coordinate data

The coordinates where the alarm occurred are highlighted.
[XYZ]
[ X Y Z Tx Ty Tz ]
123 data
The data for which the alarm occurred is highlighted.
[123]
Control group data

The control group where the alarm occurred is highlighted.
[ R1 R2 S1 S2 S3 ]

Alarm list
Special alarm display
Multiple SERVOPACK system

In a system using more than one SERVOPACK, the number of the SERVOPACK where the
alarm occurred is also displayed. The S1 switch of the AXA01 circuit board shows the SER-
VOPACK number.
SV#1: SERVOPACK 1 (AXA01 circuit board S1 switch: 0)
Independent control function (optional)

In the independent control function (multi-task job), the tasks that were being done when the
alarm occurred are also displayed.
TASK#0: Master-task job
TASK#1: Sub-task1 job (SUB1)

Alarm list
Alarm series 0000
3. Alarm message list
Warning
Before handling the system control circuit board “JANCD-NCP01” for any
remedies, consult MOTOMAN representative. To handle the JANCD-NCP01,
personnel must be appropriately skilled in maintenance mode operation.
JANCD-NCP01 backs up very important file data for the user program with a
battery. Careless operation may delete registered data.
3.1 Alarm series 0000

Alarm Sub
Message Cause Remedy
number code
An error occurred in communica- Turn the power OFF then back ON.
CPU COMMU- tions between boards when the Check that the optional board #1 is cor-
0020 10 NICATION control power turned ON. rectly inserted.
ERROR No response was sent from the If the error occurs again, contact your
optional board #1. MOTOMAN representative.
CPU COMMU- tions between boards when the Check that the optional board #2 is cor-
0020 20 NICATION control power turned ON. rectly inserted.
ERROR No response was sent from the If the error occurs again, contact your
optional board #2. MOTOMAN representative.
Turn the power OFF then back ON.
An error occurred in communica-
Check the connections of communications
CPU COMMU- tions between boards when the
cable, terminator terminal, and the station
0020 50 NICATION control power turned ON.
number settings.
ERROR No response was sent from the
If the error occurs again, contact your
servo board #1.
MOTOMAN representative.
number settings.
servo board #2.
number settings.
servo board #3.
number settings.
servo board #4.

Alarm list
Alarm series 0000
tions with the servo board #1. Check the connections of communications
COMMUNICA-
The communications CPU for the cable, terminator terminal, and the station
0021 50 TION ERROR
servo board #1 detected an error number settings.
(SERVO)
when the control power turned If the error occurs again, contact your
ON. MOTOMAN representative.
COMMUNICA-
0021 51 TION ERROR
(SERVO)
COMMUNICA-
0021 52 TION ERROR
(SERVO)
COMMUNICA-
0021 53 TION ERROR
(SERVO)
The system program file is dam-
aged. If the error occurs again, contact your
0030 1 ROM ERROR
The NCP01 system program is MOTOMAN representative.
damaged.
0030 10 ROM ERROR
The system program of optional MOTOMAN representative.
board #1 is damaged.
0030 20 ROM ERROR
The system program of optional MOTOMAN representative.
0030 50 ROM ERROR
The system program of servo MOTOMAN representative.
0030 51 ROM ERROR
0030 52 ROM ERROR
0030 53 ROM ERROR
An error was detected in commu- Check the connections of communications
COMMUNICA-
1 to nications with an I/O module cable, terminator terminal, and the station
0060 TION ERROR
15 board when the control power number settings.
(I/O MODULE)
turned ON. If the error occurs again, contact your

Alarm list
Alarm series 0000

COMMUNICA- An error was detected in commu-
0100 1 If the error occurs again, contact your
TION ERROR nications with the servo board #1.
MEMORY
DMS Initialize the parameter file.
ERROR
0200 file The parameter file is damaged. If the error occurs again, contact your
(PARAMETER
No. MOTOMAN representative.
FILE)
MEMORY
Initialize the system.
ERROR The system configuration infor-
(SYSTEM CON- mation data are damaged.
FIG-DATA)
MEMORY
Initialize the job files.
ERROR The management data of job files
(JOB MNG are damaged.
DATA)
MEMORY
Initialize the job files.
ERROR
0220 1 The job files are damaged. If the error occurs again, contact your
(JOB MNG
DATA)
MEMORY
Initialize the position data files.
ERROR The management data of position
(JOB MNG data files are damaged.
DATA)
MEMORY
Initialize the memory play file.
ERROR The memory play file is dam-
(JOB MNG aged.
DATA)
MEMORY Initialize the concurrent I/O ladder pro-
ERROR The concurrent I/O ladder program.
0230 0
(LADDER PRG gram is damaged. If the error occurs again, contact your
FILE) MOTOMAN representative.
VERIFY ERROR
The setting of concurrent I/O Set a correct value for the concurrent I/O
0300 2 (SYSTEM CON-
parameter is incorrect. parameter.
FIG-DATA)

Alarm list
Alarm series 0000
VERIFY ERROR
An invalid value is set for the seg-
0300 3 (SYSTEM CON- Set a correct value for the segment clock.
ment clock.
FIG-DATA)
VERIFY ERROR
Inconsistency was detected in
0300 4 (SYSTEM CON- Correctly set the axis-related parameters.
axis-related parameters.
FIG-DATA)
VERIFY ERROR
0300 5 (SYSTEM CON- Correctly set the sensor parameters.
sensor parameters.
FIG-DATA)
A system configuration data veri- Needs investigation. Contact your MOTO-
VERIFY ERROR fication error occurred. MAN representative.
0300 6 (SYSTEM CON-
FIG-DATA) A parameter verification error
Perform configuration of the I/O Module.
occurred.
VERIFY ERROR optional functions.
Use the functions of the mounted optional
0300 7 (SYSTEM CON- The set optional functions are dif-
board.
FIG-DATA) ferent from those of the mounted
optional board.
VERIFY ERROR The function designation for the
Set the correct function for the concurrent
0300 8 (SYSTEM CON- concurrent I/O parameter is incor-
I/O parameter.
FIG-DATA) rect.
VERIFY ERROR
The CMOS memory capacity is Initialize the system or use a RIF board
0310 0 (CMOS MEM-
different from its initial setting. with correct CMOS capacity.
ORY SIZE)
The function of the connected I/O
1 to VERIFY ERROR
0320 module is different from the set Connect a correct I/O module.
15 (I/O MODULE)
function.
VERIFY ERROR Inconsistency was detected in
Correctly set the application setting
0330 0 (SENSOR the application setting parame-
parameters.
FUNCTION) ters.
VERIFY ERROR The designation in the parameter
Set a correct value for the welding timer
0370 0 (SPOT POWER is different from the connected
designation.
SOURCE I/F) welding timer.
PARAMETER An error occurred during the Turn the power OFF then back ON.
50 to
0400 TRANSMIS- parameter/file transfer to the If the error occurs again, contact your
53
SION ERROR servo board. MOTOMAN representative.
An error occurred during startup
MODE Restart the system.
sequence processing with the
0410 CHANGE If the error occurs again, contact your
servo CPU, and the system did
ERROR MOTOMAN representative.
not startup normally.
SEGMENT Motion command processing was Restart the system.
0500 PROC NOT not completed within the speci- If the error occurs again, contact your
READY fied time. MOTOMAN representative.
SOFTWARE the system program.
0510 VERSION The combination of the main sys- Correct the combination.
UNMATCH tem program and the servo sys-
tem program are incorrect.
WATCHDOG Restart the system. If the error occurs
A system operation error
0900 TIMER ERROR again, contact your MOTOMAN represent-
occurred.
(NIF BOARD) ative.
The servo board #1 is defective.
0950 100 CPU ERROR An error was detected in the CPU Replace the servo board.
of servo board #1.
of servo board #2.

Alarm list
Alarm series 0000

of servo board #3.
of servo board #4.

Alarm list
Alarm series 1000

Alarm Sub
number code
An error occurred in the board or
system software (ROM).
1000 1 ROM ERROR Replace the main CPU board.
A checksum error occurred in the
main ROM.
A checksum error occurred in the
1001 10 ROM ERROR If the error occurs again, contact your
board or the EEPROM.
The SRDY signal did not turn ON
after the WRITE ENABLE com-
mand was written. (EEPROM
WRITE ENABLE error)
The SRDY signal did not turn ON
after the WRITE PROTECT com-
mand was written. (EEPROM
WRITE PROTECT error)
The SRDY signal did not turn ON Turn the power OFF then back ON.
1001 22 ROM ERROR after the ERASE command was If the error occurs again, contact your
written. (EEPROM ERASE error) MOTOMAN representative.
1001 23 ROM ERROR after the CLEAR command was If the error occurs again, contact your
written. (EEPROM CLEAR error) MOTOMAN representative.
1001 24 ROM ERROR after data were written. (EEP- If the error occurs again, contact your
ROM writing error) MOTOMAN representative.
1001 25 ROM ERROR after data were read. (EEPROM If the error occurs again, contact your
reading error) MOTOMAN representative.
The written data were rejected at Turn the power OFF then back ON.
1001 26 ROM ERROR verification. (EEPROM verify If the error occurs again, contact your
error) MOTOMAN representative.
MEMORY An error was detected at memory Initialize the RC parameter file in mainte-
ERROR check. nance mode, and then load the RC param-
1030 0
(PARAMETER The memory for RC parameter eter file saved in the external memory
FILE) file is damaged. device.
MEMORY An error was detected at memory Initialize the RO parameter file in mainte-
ERROR check. nance mode, and then load the RO param-
1030 1
(PARAMETER The memory for RO parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the SV parameter file in mainte-
ERROR check. nance mode, and then load the SV param-
1030 2
(PARAMETER The memory for SV parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the SVM parameter file in mainte-
ERROR check. nance mode, and then load the SVM
1030 3
(PARAMETER The memory for SVM parameter parameter file saved in the external mem-
FILE) file is damaged. ory device.
MEMORY An error was detected at memory Initialize the SC parameter file in mainte-
ERROR check. nance mode, and then load the SC param-
1030 4
(PARAMETER The memory for SC parameter eter file saved in the external memory

Alarm list
Alarm series 1000
MEMORY An error was detected at memory Initialize the SD parameter file in mainte-
ERROR check. nance mode, and then load the SD param-
1030 5
(PARAMETER The memory for SD parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the CIO parameter file in mainte-
ERROR check. nance mode, and then load the CIO
1030 6
(PARAMETER The memory for CIO parameter parameter file saved in the external mem-
MEMORY An error was detected at memory Initialize the FD parameter file in mainte-
ERROR check. nance mode, and then load the FD param-
1030 7
(PARAMETER The memory for FD parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the AP parameter file in mainte-
ERROR check. nance mode, and then load the AP param-
1030 8
(PARAMETER The memory for AP parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the RS parameter file in mainte-
ERROR check. nance mode, and then load the RS param-
1030 9
(PARAMETER The memory for RS parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the SE parameter file in mainte-
ERROR check. nance mode, and then load the SE param-
1030 10
(PARAMETER The memory for SE parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the SVC parameter file in mainte-
ERROR check. nance mode, and then load the SVC
1030 11
(PARAMETER The memory for SVC parameter parameter file saved in the external mem-
MEMORY An error was detected at memory Initialize the AMC parameter file in mainte-
ERROR check. nance mode, and then load the AMC
1030 12
(PARAMETER The memory for AMC parameter parameter file saved in the external mem-
MEMORY An error was detected at memory Initialize the SVP parameter file in mainte-
ERROR check. nance mode, and then load the SVP
1030 13
(PARAMETER The memory for SVP parameter parameter file saved in the external mem-
MEMORY An error was detected at memory Initialize the MF parameter file in mainte-
ERROR check. nance mode, and then load the MF param-
1030 14
(PARAMETER The memory for MF parameter eter file saved in the external memory
MEMORY An error was detected at memory Initialize the SVS parameter file in mainte-
ERROR check. nance mode, and then load the SVS
1030 15
(PARAMETER The memory for SVS parameter parameter file saved in the external mem-
The file data used by MOTION
MEMORY Initialize the damaged file in the mainte-
are damaged.
1031 1 ERROR nance mode. Then, load the saved file
The home position calibration file
(MOTION1) and restore.
is damaged.
MEMORY The file data used by MOTION Initialize the damaged file in the mainte-
1031 2 ERROR are damaged. nance mode. Then, load the saved file
(MOTION1) The tool file is damaged. and restore.
are damaged.
The user coordinates file is dam-
aged.

Alarm list
Alarm series 1000

are damaged.
The robot calibration file is dam-
aged.
are damaged.
The tool calibration file is dam-
aged.
are damaged.
The weaving amplitude condition
file is damaged.
are damaged.
The home position correction
data file is damaged.
are damaged.
The conveyor calibration file is
damaged.
are damaged.
The arm and tool interference
prevention file is damaged.
(MOTION1) The weaving file is damaged. and restore.
are damaged.
The Power Source condition data
file is damaged.
are damaged.
The welding condition auxiliary
file is damaged.
are damaged.
The arc start condition file is dam-
aged.
are damaged.
The arc end condition file is dam-
aged.
are damaged.
The COMARC condition file is
damaged.
are damaged.
The COMARC data file is dam-
aged.
are damaged.
The path correction condition file
is damaged.

Alarm list
Alarm series 1000

are damaged.
The painting characteristics file is
damaged.
are damaged.
The painting condition file is dam-
aged.
are damaged.
The multi-layer index file is dam-
aged.
are damaged.
The multi-layer condition file is
damaged.
are damaged.
The sensor monitoring condition
file is damaged.
are damaged.
The name position file is dam-
aged.
are damaged.
The conveyor condition file is
damaged.
are damaged.
The Press characteristics file is
damaged.
are damaged.
The servo float condition file is
damaged.
are damaged.
The spot welding Power Source
condition data file is damaged.
are damaged.
The air-gun condition file is dam-
aged.
are damaged.
The motor-gun condition file is
damaged.
are damaged.
The gun pressure file is dam-
aged.
are damaged.
The dry-spotting gun pressure file
is damaged.

Alarm list
Alarm series 1000

are damaged.
The anticipation OT# output file is
damaged.
are damaged.
The anticipation OG# output file
is damaged.
are damaged.
The handling condition file is
damaged.
(MOTION1) The form cut file is damaged. and restore.
are damaged.
The spot (user) I/O allocation file
is damaged.
are damaged.
The linear servo float condition
file is damaged.
are damaged.
The macro definition file is dam-
aged.
are damaged.
The seal amount correction con-
dition file (spray) is damaged.
MEMORY are damaged. Initialize the damaged file in the mainte-
1031 50 ERROR The seal amount correction con- nance mode. Then, load the saved file
(MOTION1) dition file (undercoating) is dam- and restore.
aged.
(MOTION1) The arc monitor file is damaged. and restore.
are damaged.
The motor-gun condition auxiliary
file is damaged.
are damaged.
The job registration table is dam-
aged.
are damaged.
The painting device condition file
is damaged.
are damaged.
The painting system file is dam-
aged.

Alarm list
Alarm series 1000

are damaged.
The painting condition file is dam-
aged.
are damaged.
The paint characteristics file is
damaged.
(MOTION1) The EVB gun file is damaged. and restore.
(MOTION1) The paint filling file is damaged. and restore.
are damaged.
The welding pulse condition file is
damaged.
(MOTION1) The clearance file is damaged. and restore.
are damaged.
The linear scale condition file is
damaged.
are damaged.
The gauging sensor file is dam-
aged.
are damaged.
The conveyor condition auxiliary
file is damaged.
SET-UP
The motion instruction did not Turn the power OFF then back ON.
PROCESS
1050 1 start up. (motion instruction setup If the error occurs again, contact your
ERROR
incomplete.) MOTOMAN representative.
(SYSCON)
The motion instruction did not
SET-UP
start up. (Setup of the servo con- Turn the power OFF then back ON.
PROCESS
1050 2 trol circuit board and NCP02 cir- If the error occurs again, contact your
ERROR
cuit board incomplete, parameter MOTOMAN representative.
(SYSCON)
setting value error)
An error occurred in the setup
SET-UP PROC- process of MOTION when the Turn the power OFF then back ON.
1051 1 ESS ERROR control power turned ON. If the error occurs again, contact your
(MOTION) The servo control section was not MOTOMAN representative.
started up.
process of MOTION when the
SET-UP PROC- control power turned ON. Turn the power OFF then back ON.
1051 2 ESS ERROR The position data of when the If the error occurs again, contact your
(MOTION) power supply had turned OFF MOTOMAN representative.
could not be transmitted to the
servo control section.

Alarm list
Alarm series 1000

SET-UP PROC- control power turned ON. Turn the power OFF then back ON.
1051 3 ESS ERROR The servo control section could If the error occurs again, contact your
(MOTION) not receive the position data of MOTOMAN representative.
when the power supply had
turned OFF.
SET-UP PROC- Turn the power OFF then back ON.
control power turned ON.
1051 5 ESS ERROR If the error occurs again, contact your
The request to turn ON the PG
(MOTION) MOTOMAN representative.
power supply for the mounted
axis could not be sent.
(MOTION) The PG power supply for the MOTOMAN representative.
mounted axis could not turn ON.
(MOTION) The request to prepare a feed- MOTOMAN representative.
back pulse could not be sent.
(MOTION) The feedback pulse could not be MOTOMAN representative.
prepared.
(MOTION) The request to initialize the arith- MOTOMAN representative.
metic section could not be sent.
(MOTION) The arithmetic section could not MOTOMAN representative.
be initialized.
(MOTION) The request to prepare the cur- MOTOMAN representative.
rent value could not be sent.
(MOTION) The current value could not be MOTOMAN representative.
prepared.
SYSTEM An unknown alarm was detected
1100 If the error occurs again, contact your
ERROR because of noise or control error.
SYSTEM Turn the power OFF then back ON.
An error occurred during the
1101 ERROR If the error occurs again, contact your
sytem control check.
(SYSTEM 1) MOTOMAN representative.
sytem control check.
(SYSTEM 2) MOTOMAN representative.

Alarm list
Alarm series 1000

An error occurred during the sys-
tem event data control check.
(EVENT) MOTOMAN representative.
Check the I/O signal line connectors and
An error occurred during the sys-
cables.
SYSTEM tem I/O control check. (I/O circuit
Reset the I/O module in maintenance
1104 ERROR board communications error, C I/
mode.
(CIO) O parameter setting value error
Replace the NIF01, I/O contactor unit, and/
etc.)
or I/O module.
SYSTEM No processing corresponds to Turn the power OFF then back ON.
1105 0 ERROR the command code sent from If the error occurs again, contact your
(SERVO) MOTION. MOTOMAN representative.
Illegal command data (parame-
1105 1 ERROR If the error occurs again, contact your
ter) is received from MOTION.
(SERVO) MOTOMAN representative.
SYSTEM An error occurred in the file trans- Turn the power OFF then back ON.
1105 2 ERROR fer sequence at execution of If the error occurs again, contact your
(SERVO) motion command. MOTOMAN representative.
SYSTEM The data size for the file transfer Turn the power OFF then back ON.
1105 3 ERROR was over housing size at execut- If the error occurs again, contact your
(SERVO) ing a motion command. MOTOMAN representative.
An optional function was com-
manded to be executed while
another optional function was in
execution.
SYSTEM The request to change standardi- Turn the power OFF then back ON.
1105 5 ERROR zation time was sent without per- If the error occurs again, contact your
(SERVO) mission. MOTOMAN representative.
SYSTEM The motor instruction standardi- Turn the power OFF then back ON.
1105 6 ERROR zation time is out of the allowable If the error occurs again, contact your
(SERVO) range. MOTOMAN representative.
The KP parameter input value is
out of the allowable range.
SYSTEM The KP parameter input value for Turn the power OFF then back ON.
1105 8 ERROR two degrees of freedom control is If the error occurs again, contact your
(SERVO) out of the allowable range. MOTOMAN representative.
SYSTEM No processing corrensponds to Turn the power OFF then back ON.
1105 9 ERROR the command code sent from If the error occurs again, contact your
(SERVO) MOTION. MOTOMAN representative.
An uncontrollable axis was desig-
nated.
SYSTEM An attempt was made to apply Turn the power OFF then back ON.
1105 11 ERROR the brake to the motor while the If the error occurs again, contact your
(SERVO) power was being supplied. MOTOMAN representative.
SYSTEM An attempt was made to supply Turn the power OFF then back ON.
1105 12 ERROR power to the motor while the If the error occurs again, contact your
(SERVO) brake was applied to the motor. MOTOMAN representative.
An error occurred in the encoder
power supply control process.
The segment clock was not the
specified value.

Alarm list
Alarm series 1000
SYSTEM An attempt was made to turn ON Turn the power OFF then back ON.
1105 17 ERROR the servo while the encoder was If the error occurs again, contact your
(SERVO) not ready. MOTOMAN representative.
The request to turn ON the servo
power supply again was sent to
an axis where the servo’s power
was already ON.
The linear servo float does not
SYSTEM support the manipulator type Turn the power OFF then back ON.
1105 30 ERROR specified in the RC parameter at If the error occurs again, contact your
(SERVO) calculation for servo-float-related MOTOMAN representative.
parameters.
SYSTEM The manipulator (B-axis) passed Check the job so that the manipulator (B-
1105 37 ERROR the singular point while the linear axis) does not pass the singular point
(SERVO) servo float was ON. while the linear servo float is ON.
The axes for which the servo
SYSTEM Check the wiring to the contactor.
were attempted to be turned ON
were not connected to the con-
tactor.
SYSTEM The servo ON command was Turn the power OFF then back ON.
1105 43 ERROR executed while the encoder was If the error occurs again, contact your
(SERVO) in alarm status. MOTOMAN representative.
Servo software alarm.
Cause is not defined.
SYSTEM
The axis endless function is set Disable the axis endless function of motor
1105 60 ERROR
enabled for motor guns. guns axis.
(SERVO)
The axis endless function is set
enabled for the encoder for which
SYSTEM this function cannot be used.
Disable the axis endless function for the
1105 61 ERROR The axis endless function cannot
encoder.
(SERVO) be used for the encoders manu-
factured by Tamagawa Seiki Co.,
Ltd.
An error occurred while the axis
endless function was being used.
The home position detecting
SYSTEM
function was used for the axis for Disable either the axis endless function or
1105 68 ERROR
which the axis endless function the home position detection function.
(SERVO)
was enabled.
SYSTEM The servo float function was used
Disable the axis endless function, or do
1105 69 ERROR for the axis for which the axis
not use the servo float function.
(SERVO) endless function was enabled.
An axis number that is not for gun
change was specified.
An axis number that is not for gun
change was specified.
The PG power supply of the axis
for gun change is ON.
The servo power supply of the
axis for gun change is ON.

Alarm list
Alarm series 1000
The gun number allocated to the

specified physical axis is different
from the specified gun condition
file number.
The gun pressure file number is
incorrect.
The axis specified for gun pres-
sure is not a gun axis.
The sequence was untimely exe-
cuted in the general-purpose
10ms process although it was not
the execution timing.
cuted in the segment_G process
although it was not the execution
timing.
cuted in the general-purpose 2ms
process although it was not the
execution timing.
cuted in the general-purpose 4ms
execution timing.
cuted in the dynamics calculation
execution timing.
cuted in the dynamics compensa-
tion process although it was not
the execution timing.
SYSTEM cuted in the servo communica- Turn the power OFF then back ON.
1105 107 ERROR tions CERF sending process If the error occurs again, contact your
(SERVO) although it was not the execution MOTOMAN representative.
timing.
SYSTEM cuted in the servo communica- Turn the power OFF then back ON.
1105 108 ERROR tions CERF receiving process If the error occurs again, contact your
(SERVO) although it was not the execution MOTOMAN representative.
timing.
cuted in the segment_R process
timing.
cuted in the segment_E process
timing.
cuted in the segment_OPT1
execution timing.

Alarm list
Alarm series 1000

execution timing.
execution timing.
SYSTEM A general-purpose 10ms proc- Turn the power OFF then back ON.
1105 120 ERROR ess did not complete within the If the error occurs again, contact your
(SERVO) time set on the scheduling table. MOTOMAN representative.
SYSTEM The segment_G process did not Turn the power OFF then back ON.
1105 121 ERROR complete within the time set on If the error occurs again, contact your
(SERVO) the scheduling table. MOTOMAN representative.
The general-purpose 4ms proc-
ess did not complete within the
time set on the scheduling table.
(Emergency stop detected.)
SYSTEM The general-purpose 2ms proc- Turn the power OFF then back ON.
SYSTEM The general-purpose 4ms proc- Turn the power OFF then back ON.
SYSTEM The dynamics calculation proc- Turn the power OFF then back ON.
The dynamics compensation
process did not complete within
the time set on the scheduling
table.
SYSTEM The CERF transmission process Turn the power OFF then back ON.
1105 127 ERROR did not complete within the time If the error occurs again, contact your
(SERVO) set on the scheduling table. MOTOMAN representative.
SYSTEM The dynamics calculation proc- Turn the power OFF then back ON.
SYSTEM The CERF receiving process did Turn the power OFF then back ON.
1105 129 ERROR not complete within the time set If the error occurs again, contact your
(SERVO) on the scheduling table. MOTOMAN representative.
SYSTEM The segment_R process did not Turn the power OFF then back ON.
SYSTEM The segment_E process did not Turn the power OFF then back ON.
SYSTEM The segment_OPT1 process did Turn the power OFF then back ON.

Alarm list
Alarm series 1000
SYSTEM The segment clock in the ROM Turn the power OFF then back ON.
1105 150 ERROR for spot welding is different from If the error occurs again, contact your
(SERVO) the specified value. MOTOMAN representative.
The averaging time is not an
even number. (times)
SYSTEM An attempt to use a function that Turn the power OFF then back ON.
1105 152 ERROR is not allowed in the current ROM If the error occurs again, contact your
(SERVO) was made. MOTOMAN representative.
SYSTEM An error occurred in real-time Turn the power OFF then back ON.
1105 154 ERROR data transmission of SVSPOT If the error occurs again, contact your
(SERVO) Executing bit sent from MOTION. MOTOMAN representative.
The illegal data are stored in the
averaging buffer.
The sum value in the averaging
buffer is incorrect.
The “empty” status of averaging
buffer is incorrect.
SYSTEM The transfer of servo float condi- Turn the power OFF then back ON.
1105 201 ERROR tion file was not successfully If the error occurs again, contact your
(SERVO) completed. MOTOMAN representative.
The transfer of gun condition file
was not successfully completed.
The transfer of gun pressure file
was not successfully completed.
SYSTEM The transfer of dry-spotting gun Turn the power OFF then back ON.
1105 204 ERROR pressure file was not successfully If the error occurs again, contact your
SYSTEM The transfer of servo hand char- Turn the power OFF then back ON.
1105 205 ERROR acteristics file was not success- If the error occurs again, contact your
(SERVO) fully completed. MOTOMAN representative.
SYSTEM The transfer of collision detecting Turn the power OFF then back ON.
1105 206 ERROR sencitivity setting file was not If the error occurs again, contact your
(SERVO) successfully completed. MOTOMAN representative.
The tool file transfer was not suc-
cessfully completed.
SYSTEM The transfer of linear servo float Turn the power OFF then back ON.
1105 208 ERROR condition file was not success- If the error occurs again, contact your
(SERVO) fully completed. MOTOMAN representative.
SYSTEM The transfer of gun condition aux- Turn the power OFF then back ON.
1105 209 ERROR iliary file was not successfully If the error occurs again, contact your
A logical error occurred in the
SYSTEM parameter for modification of res- Turn the power OFF then back ON.
1105 300 ERROR olution which was calculated by If the error occurs again, contact your
(SERVO) the parameter specified by MOTOMAN representative.
CMOS.
parameter.

Alarm list
Alarm series 1000

1105 500 ERROR Inconsistency of FP register. If the error occurs again, contact your
SYSTEM An uncontrolled axis was speci- Turn the power OFF then back ON.
1105 600 ERROR fied when the instruction for If the error occurs again, contact your
(SERVO) group change was executed. MOTOMAN representative.
The PG power supply of the axis
for group change is ON.
The servo power supply of the
axis for group change is ON.
An error occurred in motor control
mode switching process.
The observer and collision detec-
tion function are set disabled
although the broken belt detec-
tion function is set enabled.
Vibration was detected in the
serial encoder.
serial encoder.
serial encoder.
serial encoder.
serial encoder.
serial encoder.
serial encoder.
serial encoder.
serial encoder.
Turn the power OFF then back ON after
SYSTEM
The check item number of SVD cooling the power supply unit.
1105 1000 ERROR
parameter is unmatched. If the error occurs again, contact your
(SERVO)
SYSTEM
The check item number of SV cooling the power supply unit.
1105 1001 ERROR
(SERVO)

Alarm list
Alarm series 1000

SYSTEM
The check item number of SVM cooling the power supply unit.
1105 1002 ERROR
(SERVO)
SYSTEM
The check item number of SVP cooling the power supply unit.
1105 1003 ERROR
(SERVO)
SYSTEM
The check item number of AMC cooling the power supply unit.
1105 1004 ERROR
(SERVO)
SYSTEM
The check item number of MFG cooling the power supply unit.
1105 1005 ERROR
(SERVO)
SYSTEM
The check item number of MFA cooling the power supply unit.
1105 1006 ERROR
(SERVO)
SYSTEM
The check item number of SVC cooling the power supply unit.
1105 1007 ERROR
(SERVO)
SYSTEM
The check item number of SVS cooling the power supply unit.
1105 1008 ERROR
(SERVO)
SYSTEM The status setting to base block
cooling the power supply unit.
1105 2000 ERROR is different from that of base block
(SERVO) signal reading from JL056.
SYSTEM The status setting to base block
1105 2010 ERROR is different from that of base block
(SERVO) signal writing to JL056.
The status setting to base block Turn the power OFF then back ON after
SYSTEM
is different from that of base block cooling the power supply unit.
1105 2020 ERROR
signal reading from micro pro- If the error occurs again, contact your
(SERVO)
gram. MOTOMAN representative.
SYSTEM
Servo software does not match cooling the power supply unit.
1105 2100 ERROR
the circuit board. If the error occurs again, contact your
(SERVO)
SYSTEM
3280 An error occurred in the first cooling the power supply unit.
1105 ERROR
7 encoder communications. If the error occurs again, contact your
(SERVO)
The temperature inside the con-
HIGH Check if the in-panel cooling fan correctly
1200 troller (CPS power supply unit) is
TEMPERATURE operates.
too high.
An error occurred in the main
CPU board due to: Turn the power OFF then back ON.
1202 0 FAULT - Defective board If the error occurs again, contact your
- Incorrect connection MOTOMAN representative.
- software control error

Alarm list
Alarm series 1000
0000
Check the noise source and take counter-
_000 Communications and power sup-
COMMUNICA- measures to reduce the noise.
0_ ply error occurred in the I/O cir-
1204 TION ERROR Reset the I/O module in maintenance
0000 cuit board. (standard I/O of NIF01
(IO MODULE) mode.
_000 unit)
Replace the NIF01 circuit board.
1
Check the I/O signal line (NIF01-I/O circuit
Communications and power sup-
board) connectors and cables.
ply error occurred in the I/O cir-
Check the connection of the I/O circuit
****_ cuit board. (standard I/O of NIF01
COMMUNICA- board and the external device. Check the
****_ unit)
1204 TION ERROR noise source and take countermeasures to
****_ *: 0 is correct. 1 is incorrect. Bit
(IO MODULE) reduce the noise.
***0 position of 1 shows the station
Reset the I/O module in maintenance
number of incorrect I/O circuit
mode.
board.
Replace the NIF01 circuit board.
BROKEN B_ON
1207 RELAY FUSE The brake relay fuse was blown. Replace the brake relay fuse.
(NIF01)
BROKEN S_ON
The servo-ON relay fuse was
1208 RELAY FUSE Replace the servo-ON relay fuse.
blown.
(NIF01)
Defective watchdog timer circuit
EXTERNAL
0000 that checks the safety circuit
1209 WDT BROKEN Replace the NIF01 circuit board.
_00** 0000_0001: 1 signal (PLD1) error
(NIF01)
0000_0010: 2 signal (PLD1) error
SERIAL COM- Checking error of toggle that
MUNICATION switches double checking safety
0000
1210 TOGGLE circuits in cycle of 1 ms Replace the NIF01 circuit board.
_00**
CHECK ERROR 0000_0001: 1 signal (PLD1) error
(NIF01) 0000_0010: 2 signal (PLD1) error

Alarm list
Alarm series 1000
The signal does not have a

match signal as a result the
mutual check of a dual signal.
0000_0000_0000_0001: Panel
signal emergency stop signal
(PBESP) unmatched error
0000_0000_0000_0010: Pro-
gramming pendant emergency
stop signal (PPESP) unmatched
error
0000_0000_0000_0100: Exter-
nal emergency stop signal
(EXESP) unmatched error
0000_0000_0000_1000: System
CPU error (ERRCPU) unmatched
error
0000_0000_0001_0000: Servo
ON condition signal (SYSRDY)
unmatched error
****_ INPUT 0000_0000_0010_0000: Safety
****_ COMPARISON plug signal (SAF) unmatched
1211 Check the signal.
****_ ERROR error
****_ (NIF01) 0000_0000_0100_0000: Servo
ON signal (SVON) unmatched
error
0000_0000_1000_0000: Exter-
nal servo ON signal (EXSVON)
unmatched error
0000_0001_0000_0000: Unused
0000_0010_0000_0000: Mainte-
nance signal (MAINTE)
unmatched error
0000_0100_0000_0001: Unused
0000_1000_0000_0001: Unused
0001_0000_0000_0000: Unused
0010_0000_0000_0000: Unused
0100_0000_0000_0000: Safety
speed mode selection (SSP)
unmatched error
1000_0000_0000_0000: Full
speed test (FST) unmatched
error
PLD MUTUAL The input comparison error
0000 MONITOR occurred. Check the one of PPESP ,PBESP, EXESP,
1212
_00** ERROR 0000_0001: 1 signal (PLD1) error and SAF signals.
(NIF01) 0000_0010: 2 signal (PLD2) error
The input comparison error
MUTUAL WDT
0000 occurred. Check the one of PPESP ,PBESP, EXESP,
1213 ERROR
_00** 0000_0001: 1 signal (PLD1) error and SAF signals.
(NIF01)
The emergency stop button
PBESP of the NX100 front door Confirm that the cable is not short-
0000 PBESP RELAY
1214 is melted and stuck. circuited.
_00** STICKING
0000_0001: 1 signal (PLD1) error Replace if necessary.
The emergency stop button of
programming pendant PPESP is Confirm that the cable is not short-
0000 PPESP RELAY
1215 melted and stuck. circuited.
_00** STICKING

Alarm list
Alarm series 1000
The external emergency stop

button EXESP is melted and Confirm that the cable is not short-
0000 EXESP RELAY
1216 stuck. circuited.
_00** STICKING
The servo-ON relay is melted and
0000 S_ON RELAY stuck.
1217 Replace the servo-ON relay.
_00** STICKING 0000_0001: 1 signal (PLD1) error
The brake relay is melted and
0000 B_ON RELAY stuck.
1218 Replace the brake relay.
_00** STICKING 0000_0001: 1 signal (PLD1) error
ANOTHER PLD
EXT WDT The watchdog timer checking the
1219 If the error occurs again, replace the NIF
ERROR (NIF safety circuit is incorrect.
unit.
BOARD)
A synchronization error occurred
between CPUs.
Erroneous communications Correct the cable connection or replace
SERVO CPU
occurred between the main CPU the cable.
1300 SYNCHRONIZ-
board and the servo control cir- Replace the main CPU board and/or servo
ING ERROR
cuit board due to: control board.
- Defective board
- Incorrect connection
Erroneous communications
occurred between main CPU
Correct the cable connection or replace
COMMUNICA- board and servo control circuit
the cable.
1301 0 TION ERROR board due to:
Replace the main CPU board and/or servo
(SERVO) - Defective board
control board.
(Communication status error)
the cable.
control circuit board.
(Watchdog timer error)
the cable.
(JL040 alarm)
the cable.
(Communication status error)
Check the cable connection or replace the
cable.
(Data consistency error)

Alarm list
Alarm series 1000
occurred between the contactor
unit (for I/Os, manipulators, and
external axes) and servo control Correct the cable connection or replace
COMMUNICA-
circuit board due to: the cable.
1302 1 TION ERROR
- Defective board Replace the contactor unit and/or servo
(SERVO I/O)
- Incorrect connection control circuit board.
No interrupt from servo I/O com-
munications (JL080) occurred.
(Communication loop back)
external axes) and servo control
COMMUNICA- circuit board due to:
the cable.
1302 2 TION ERROR - Defective board
Replace the contactor unit and/or servo
(SERVO I/O) - Incorrect connection
The servo I/O communications
(JL080) received status is incor-
rect.
(No interrupt)
external axes) and control circuit
COMMUNICA- board due to:
the cable.
Replace the contactor unit and/or control
circuit board.
(JL080) buffer switch status is
incorrect.
(Watchdog timer error)
the cable.
Replace the contactor unit and/or servo
(JL080) receiving status is incor-
rect.
(Command timeout)
the cable.
Replace the contactor unit and/or the
servo control circuit board.
The communications loop back
value of servo I/O communica-
tions (JL080) is incorrect.
(Communication loop back)
COMMUNICA- The received address of JL080 is
1302 11 TION ERROR unmatched with the sent
(SERVO I/O) address.

Alarm list
Alarm series 1000

COMMUNICA-
The received buffer of JL080 is cooling the power supply unit.
1302 12 TION ERROR
incorrect. If the error occurs again, contact your
(SERVO I/O)
Deci- ARITHMETIC An error occurred in control arith- Turn the power OFF then back ON.
1303 mal ERROR metic process or parameter arith- If the error occurs again, contact your
data (SERVO) metic process. MOTOMAN representative.
The external board is not
mounted although an external
EX-AXIS
axis is specified. Mount an external board or correct the
1304 BOARD NOT
"With external axes" is specified external axis selection parameter.
INSTALLED
for the system without external
axes.
Phy-
AMPLIFIER
sical The amplifier type setting is incor- Set the installed amplifier type in the sys-
1306 TYPE MIS-
axis rect. tem configuration.
MATCH
bit
Phy-
ENCODER
sical The encoder type (motor model) Set the installed motor type in the system
1307 TYPE MIS-
axis setting is incorrect. configuration.
MATCH
bit
CONVERTER The converter model set in the
Set the mounted converter model in sys-
1308 TYPE system configuration is different
tem configuration.
MISMATCH from that of the one mounted.
HARDWARE
1309 ERROR Converter hardware is incorrect.
(CONVERTER)
CHARGE Turn the power OFF then back ON.
1310 ERROR Converter hardware is incorrect. If the error occurs again, replace the con-
(CONVERTER) verter.
A/D DETEC-
1311 TION ERROR Converter hardware is incorrect.
(CONVERTER)
ID ERROR
1312 Converter hardware is incorrect. If the error occurs again, replace the con-
(CONVERTER)
verter.
Communication error occurred
between the encoder and the
Correct the encoder connection.
servo control circuit board due to:
COMMUNICA- Check for noise.
- Misconnection of encoder
1325 TION ERROR Confirm the motor type.
- Noise from external devices
(ENCODER) If the error occurs again, replace the servo
- Incorrect motor type
- Defective servo control circuit
board or encoder
DEFECTIVE
ENCODER An error occurred in the encoder
1326 If the error occurs again, replace the motor
ABSOLUTE position detecting circuit.
of the corresponding axis.
DATA
The control power supply turned Stop the manipulator motion and then turn
ON while the encoder was rotat- ON the control power supply to check if
ENCODER
1327 ing (at more than 400min-1). the error occurs. If the error occurs, the
OVER SPEED
- The axis was in free-fall state. encoder is defective. Replace the motor
- Defective encoder for the axis.

Alarm list
Alarm series 1000
Internal parameter error of the

DEFECTIVE Turn the power OFF then back ON.
serial encoder
1328 SERIAL If the error occurs again, replace the motor
The encoder fault may be the
ENCODER of the corresponding axis.
cause.
No response of encoder reset
DEFECTIVE
completion at the occurrnce of Turn the power OFF then back ON.
SERIAL
1329 encoder backup error. If the error occurs again, replace the motor
ENCODER
The encoder fault may be the (encoder) of the corresponding axis.
COMMAND
cause.
MICRO PRO- Defective servo control circuit Turn the power OFF then back ON.
1330 GRAM TRANS- board (Occurred only when the If the error occurs again, replace the servo
MIT ERROR control power supply turned ON.) control circuit board.
Connect a battery to the encoder.
INCOMPLETE The encoder resetting did not
If the error still occurs after having con-
1335 ENCODER complete. No battery may be
nected a battery, the encoder fault may be
RESET connected.
the cause.
COMMUNICA-
No response from the converter. cooling the power supply unit.
1343 1 TION ERROR
(communications status error) If the error occurs again, contact your
(CONVERTER)
COMMUNICA-
1343 2 TION ERROR
(command timeout) If the error occurs again, contact your
(CONVERTER)
COMMUNICA-
1343 3 TION ERROR
(sent buffer FULL) If the error occurs again, contact your
(CONVERTER)
COMMUNICA-
1343 4 TION ERROR
(CRC-16 error) If the error occurs again, contact your
(CONVERTER)
COMMUNICA-
1343 5 TION ERROR
(error code received) If the error occurs again, contact your
(CONVERTER)
COMMUNICA-
1343 6 TION ERROR
(received command error) If the error occurs again, contact your
(CONVERTER)
POWER LOST The power to the motor became
DETECTION unstable.
The mounted board type is
CONTACTOR unmatched. The safety settings
Check the board type and replace if nec-
1350 UNIT TYPE have been set for a controller that
essary.
UNMATCH does not meet the specifications
outlined in the safety standards.
SERIAL COR- Turn the power OFF then back ON.
An error was detected in bit shift-
1352 RECTION If the error occurs again, contact your
ing compensation.
FAILED MOTOMAN representative.
SERIAL ENC Turn the power OFF then back ON. If the
Encoder multi-turn limit quantity
1355 MULTITURN error occurs again, replace the motor
error
LIMIT ERR (encode) for axis.
A task request was sent to an
INVALID AXIS Turn the power OFF then back ON.
axis of the group that was disa-
1356 SPECIFICA- If the error occurs again, contact your
bled by the group separation
TION ERROR MOTOMAN representative.
function.

Alarm list
Alarm series 1000
The position or speed value

exceeded the limit value during
presurring after gun electrode hit
1357 PRESS ERROR Check the job.
the welded target. The motion
after gun electrode hits the
welded target is incorrect.
The prealigner is not mounted
PA NOT
1360 although use of the prealigner Check the prealigner connection.
INSTALLED
has been selected.
PLD INTERNAL
PLD internal mutual monitoring
MUTUAL MONI-
1500 error is sent from the TU circuit Replace the TU circuit board.
TOR ERROR
board.
(SERVO I/O)
SVMX RELAY PLD internal mutual monitoring
1501 STICKING error is sent from the TU circuit Replace the TU circuit board.
(SERVO I/O) board.
CONTACTOR PLD internal mutual monitoring
1502 STICKING error is sent from the TU circuit Replace the TU circuit board.
(SERVO I/O) board.
INPUT COM-
PARISON
ERROR
board.
(SERVO I/O)
TUSON RELAY PLD internal mutual monitoring
1504 BREAKDOWN error is sent from the TU circuit Replace the TU circuit board.
(SERVO I/O) board.
B_ON RELAY
FUSE BREAK-
DOWN (SERVO
board.
I/O)
MAIN CONTAC-
TOR RELAY PLD internal mutual monitoring
1506 FUSE BREAK- error is sent from the TU circuit Replace the TU circuit board.
DOWN board.
(SERVO I/O)
S_ON RELAY
FUSE BREAK-
DOWN (SERVO
board.
I/O)
MUTUAL WDT PLD internal mutual monitoring
1508 ERROR error is sent from the TU circuit Replace the TU circuit board.
(SERVO I/O) board.
EXTERNAL PLD internal mutual monitoring
1509 WDT OVER error is sent from the TU circuit Replace the TU circuit board.
(SERVO I/O) board.
EXTERNAL
WDT BREAK-
DOWN (SERVO
board.
I/O)
SERIAL COM-
MUNICATION PLD internal mutual monitoring
1511 TOGGLE error is sent from the TU circuit Replace the TU circuit board.
CHECK ERROR board.
(SERVO I/O)
POWER SUP-
PLY FAN The fan of the power supply unit
ALARM is incorrect.
(SERVO)

Alarm list
Alarm series 1000
POWER Turn the power OFF then back ON after

SUPPLY The power supply unit over- cooling the power supply unit.
1513
OVERHEAT heated. If the error occurs again, contact your
OVERHEAT cooling the amplifier.
1514 Amplifier overheated.
(AMPLIFIER) If the error occurs again, contact your

Alarm list
Alarm series 4000

Alarm Sub
number code
An error was detected at memory
MEMORY Initialize the tool file in maintenance mode,
check.
4000 ERROR and then load the tool file saved in the
The memory for the tool file is
(TOOL FILE) external memory device.
damaged.
MEMORY An error was detected at memory Initialize the user coordinates file in main-
ERROR check. tenance mode, and then load the user
4001
(USER COORD The memory for the user coordi- coordinates file saved in the external
FILE) nates file is damaged. memory device.
MEMORY An error was detected at memory Initialize the servo monitor signal file in
ERROR check. maintenance mode, and then load the
4002
(SV MON The memory for the servo moni- servo monitor signal file saved in the exter-
SIGNAL FILE) tor signal file is damaged. nal memory device.
MEMORY An error was detected at memory Initialize the weaving condition file in main-
ERROR check. tenance mode, and then load the weaving
4003
(WEAVING The memory for the weaving con- condition file saved in the external memory
FILE) dition file is damaged. device.
MEMORY An error was detected at memory Reset the alarm, and set the home posi-
ERROR check. tioning data (absolute data) again.
4004
(HOME POS The memory for the home posi- Load the home positioning file saved in the
FILE) tioning file is damaged. external memory device.
MEMORY An error was detected at memory
ERROR check. Load the second home position file saved
4005
(SECOND The memory for the second in the external memory device.
HOME POS) home position file is damaged.
MEMORY An error was detected at memory Initialize the arc welding Power Source
ERROR check. condition file in the maintenance mode,
4006 (POWER The memory for the arc welding and then load the arc welding Power
SOURCE Power Source condition file is Source condition file saved in the external
COND) damaged. memory device.
MEMORY An error was detected at memory Initialize the arc start condition file in the
ERROR check. maintenance mode, and then load the arc
4007
(ARC START The memory for the arc start con- start condition file saved in the external
COND FILE) dition file is damaged. memory device.
MEMORY An error was detected at memory Initialize the arc end condition file in the
ERROR check. maintenance mode, and then load the arc
4008
(ARC END The memory for the arc end con- end condition file saved in the external
COND FILE) dition file is damaged. memory device.
MEMORY An error was detected at memory Initialize the arc auxiliary condition file in
ERROR check. the maintenance mode, and then load the
4009
(ARC AUX The memory for the arc auxiliary arc auxiliary condition file saved in the
COND FILE) condition file is damaged. external memory device.
MEMORY An error was detected at memory Initialize the COM-ARC condition file in the
4010
(COM-ARC The memory for the COM-ARC COM-ARC condition file saved in the
COND FILE) condition file is damaged. external memory device.
MEMORY An error was detected at memory Initialize the link servo float condition file in
4012
(LINK The memory for the link servo link servo float condition file saved in the
SERVOFLOAT) float condition file is damaged. external memory device.
MEMORY An error was detected at memory Initialize the linear servo float condition file
ERROR check. in the maintenance mode, and then load
4013
(LINEAR The memory for the linear servo the linear servo float condition file saved in
SERVOFLOAT) float condition file is damaged. the external memory device.

Alarm list
Alarm series 4000
Alarm Sub
number code
An error was detected at memory Initialize the file for calibration between
MEMORY
check. manipulators in the maintenance mode,
ERROR
4014 The memory for the file for cali- and then load the file for calibration
(ROBOT CARIB
bration between manipulators is between manipulators saved in the exter-
FILE)
damaged. nal memory device.
An error was detected at memory Initialize the Power Source characteristics
MEMORY
check. user definition file in the maintenance
ERROR
4017 The memory for the Power mode, and then load the Power Source
(POWER SRC
Source characteristics user defi- charactristics user definition file saved in
USER DEF)
nition file is damaged. the external memory device.
MEMORY An error was detected at memory Initialize the ladder program file in the
ERROR check. maintenance mode, and then load the lad-
4018
(LADDER PRG The memory for the ladder pro- der program file saved in the external
FILE) gram file is damaged. memory device.
MEMORY An error was detected at memory Initialize the user coordinates file in the
4019
(CUTTING The memory for the user coordi- user coodinates file saved in the external
COND FILE) nates file is damaged. memory device.
ERROR check.
4020 Initialize the work home position file.
(WORK HOME The memory for the work home
POS FILE) position file is damaged.
MEMORY An error was detected at memory Initialize the conveyor condition file in the
4021
(CONVEYOR The memory for the conveyor conveyor condition file saved in the exter-
COND FILE) condition file is damaged. nal memory device.
MEMORY An error was detected at memory Initialize the interrupt job file in the mainte-
ERROR check. nance mode, and then load the interrupt
4025
(INTERRUPT The memory for the interrupt job job file saved in the external memory
JOB FILE) file is damaged. device.
MEMORY An error was detected at memory Initialize the sensor monitoring condition
ERROR check. file in the maintenance mode, and then
4028
(SENSOR MON The memory for the sensor moni- load the sensor monitoring condition file
COND FILE) toring condition file is damaged. saved in the external memory device.
MEMORY An error was detected at memory Initialize the spot welding gun condition file
4031
(GUN COND The memory for the spot welding the spot welding gun condition file saved in
FILE) gun condition file is damaged. the external memory device.
An error was detected at memory Initialize the spot welding SPOT WELD
MEMORY
check. condition file in the maintenance mode,
ERROR
4032 The memory for the spot welding and then load the spot welding Power
(SPOT WELD
Power Source condition file is Source condition file saved in the external
COND)
damaged. memory device.
MEMORY An error was detected at memory Initialize the gun pressure file in the main-
ERROR check. tenance mode, and then load the gun
4033
(GUN PRES- The memory for the gun pressure pressure file saved in the external memory
SURE FILE) file is damaged. device.
MEMORY An error was detected at memory Initialize the anticipation outputs file in the
4034
(ANTICIPATION The memory for the anticipation anticipation outputs file saved in the exter-
OT FILE) outputs (OT) file is damaged. nal memory device.
MEMORY An error was detected at memory Initialize the anticipation outputs file in the
4035
(ANTICIPATION The memory for the anticipation anticipation outputs file saved in the exter-
OG FILE) outputs (OG) file is damaged. nal memory device.

Alarm list
Alarm series 4000
Alarm Sub
number code
MEMORY An error was detected at memory Initialize the wear amount file in the main-
ERROR check. tenance mode, and then load the wear
4036
(WEARING The memory for the wear amount amount file saved in the external memory
An error was detected at memory Initialize the FULL/SHORT OPEN position
MEMORY
check. setting file in the maintenance mode, and
ERROR
4037 The memory for the FULL/ then load the FULL/SHORT OPEN posi-
(STROKE
SHORT OPEN position setting tion setting file saved in the external mem-
POSITION)
file is damaged. ory device.
MEMORY An error was detected at memory Initialize the dry-spotting pressure file in
4038
(PRESSURE The memory for the dry-spotting dry-spotting pressure file saved in the
FILE) pressure file is damaged. external memory device.
Initialize the form cut file in the mainte-
ERROR check.
4039 nance mode, and then load the form cut
(FORM CUT The memory for the form cut file
file saved in the external memory device.
FILE) is damaged.
Initialize the shock level file in the mainte-
ERROR check.
4040 nance mode, and then load the shock level
(SHOCK LEVEL The memory for the shock level
FILE) file is damaged.
MEMORY An error was detected at memory Initialize the spot I/O allocation file in the
ERROR check. maintenance mode, and then load the spot
4041
(SPOT IO The memory for the spot I/O allo- I/O allocation file saved in the external
ALLOCATE FL) cation file is damaged. memory device.
An error was detected at memory Initialize the vision condition file in the
MEMORY
check. maintenance mode, and then load the
4042 ERROR
The memory for the vision condi- vision condition file saved in the external
(VISION FILE)
tion file is damaged. memory device.
MEMORY An error was detected at memory Initialize the vision calibration file in the
4043
(VISION The memory for the vision cali- vision calibration file saved in the external
CALIBRATION) bration file is damaged. memory device.
MEMORY
An error was detected at memory Initialize the welding pulse condition file in
ERROR
check. the maintenance mode, and then load the
4044 (WELDING
The memory for the welding welding pulse condition file saved in the
PULSE COND
pulse condition file is damaged. external memory device.
FILE)
MEMORY
ERROR An error was detected at memory Initialize the welding pulse selection file in
(WELDING check. the maintenance mode, and then load the
4045
PULSE The memory for the welding welding pulse selection file saved in the
SELECTION pulse selection file is damaged. external memory device.
FILE)
MEMORY An error was detected at memory Initialize the conveyor calibration file in the
4046
(CONVEYOR The memory for the conveyor cal- conveyor calibration file saved in the exter-
CALIBRATION) ibration file is damaged. nal memory device.
MEMORY
An error was detected at memory Initialize the macro definition file in the
ERROR
check. maintenance mode, and then load the
4047 (MACRO
The memory for the macro defini- macro definition file saved in the external
DEFINITION
tion file is damaged. memory device.
FILE)

Alarm list
Alarm series 4000
Alarm Sub
number code
MEMORY An error was detected at memory Initialize the sealer gun characteristics file
4048
(SERVO S-GUN The memory for the sealer gun the sealer gun characteristics file saved in
FILE) characteristics file is damaged. the external memory device.
Initialize the painting amount correction file
ERROR check.
in the maintenance mode, and then load
4049 (PASTE QUAN The memory for the painting
the painting amount correction file saved in
COMPENSA- amount correction file is dam-
the external memory device.
TION FILE) aged.
MEMORY An error was detected at memory Initialize the axis motion I/O allocation file
4050
(AXIS I/O ALLO- The memory for the axis motion I/ the axis motion I/O allocation file saved in
CATION FILE) O allocation file is damaged. the external memory device.
MEMORY An error was detected at memory Initialize the gun characteristics auxiliary
ERROR check. file in the maintenance mode, and then
4051
(GUN COND The memory for the gun charac- load the gun characteristics auxiliary file
AUX FILE) teristics auxiliary file is damaged. saved in the external memory device.
MEMORY An error was detected at memory Initialize the tool interference file in the
ERROR check. maintenance mode, and then load the tool
4052
(TOOL INTER- The memory for the tool interfer- interference file saved in the external
FERENCE FILE) ence file is damaged. memory device.
MEMORY
An error was detected at memory Initialize the painting system setting file in
ERROR
check. the maintenance mode, and then load the
4053 (PAINTING
The memory for the painting sys- painting system setting file saved in the
SYSTEM CON-
tem setting file is damaged. external memory device.
FIGURATION)
MEMORY Initialize the painting device characteristics
check.
ERROR file in the maintenance mode, and then
4054 The memory for the painting
(PAINTING load the painting device characteristics file
device characteristics file is dam-
SPECIAL) saved in the external memory device.
aged.
MEMORY An error was detected at memory Initialize the painting CCV file in the main-
ERROR check. tenance mode, and then load the painting
4055
(CCV-PAINT The memory for the painting CCV CCV file saved in the external memory
TABLE) file is damaged. device.
Initialize the paint filling file in the mainte-
ERROR check.
4056 nance mode, and then load the paint filling
(PLUG VOL- The memory for the paint filling
UME FILE) file is damaged.
Initialize the EVB gun file in the mainte-
ERROR check.
4057 nance mode, and then load the EVB gun
(EVB GUN The memory for the EVB gun file
COND) is damaged.
MEMORY An error was detected at memory Initialize the EVB turbine file in the mainte-
ERROR check. nance mode, and then load the EVB tur-
4058
(EVB TURBINE The memory for the EVB turbine bine file saved in the external memory
COND) file is damaged. device.
Initialize the EVB paint file in the mainte-
ERROR check.
4059 nance mode, and then load the EVB paint
(EVB PAINT The memory for the EVB paint file
COND) is damaged.
Initialize the clearance file in the mainte-
ERROR check.
4060 nance mode, and then load the clearance
(CLEARANCE The memory for the clearance file
FILE) is damaged.

Alarm list
Alarm series 4000
Alarm Sub
number code
MEMORY An error was detected at memory Initialize the gaging sensor file in the main-
ERROR check. tenance mode, and then load the gaging
4061
(GAGING SEN- The memory for the gaging sen- sensor file saved in the external memory
SOR FILE) sor file is damaged. device.
MEMORY An error was detected at memory Initialize the linear scale condition file in
4062
(LINEAR SCALE The memory for the linear scale linear scale condition file saved in the
FILE) condition file is damaged. external memory device.
MEMORY Initialize the conveyor condition auxiliary
check.
ERROR file in the maintenance mode, and then
4063 The memory for the conveyor
(CONVEYOR load the conveyor condition auxiliary file
condition auxiliary file is dam-
COND SUPP.) saved in the external memory device.
aged.
MEMORY
An error was detected at memory Initialize the weaving synchronizing weld-
ERROR
check. ing condition file in the maintenance mode,
(WEAVING
4064 The memory for the weaving syn- and then load the weaving synchronizing
SYNCHRONIZ-
chronizing welding condition file welding condition file saved in the external
ING WELD
is damaged. memory device.
FILE)
Move back the manipulator out of the over-
OVERRUN One of the manipulator overrun
4100 run limit switch range. (Refer to the
(ROBOT AXIS) limit switches activated.
INSTRUCTIONS.)
OVERRUN Move back the external axis out of the
One of the external-axis overrun
4101 (EXTERNAL overrun limit switch range. (Refer to the
limit switches activated.
AXIS) INSTRUCTIONS.)
The system parameters are mod-
ified.
An attempt was made to turn ON
SYSTEM DATA the servo power supply after hav-
4102 HAS BEEN ing modified the system parame- Turn the power OFF then back ON.
CHANGED ters.
The data indicates the cause of
alarm.
1: System parameter modified
An error occurred in the inde-
pendent control startup opera-
PARALLEL tion.
START Sub task being executed: Complete the sub task by PWAIT com-
4103 1
INSTRUCTION Although a job is being executed mand.
ERROR by instructed sub task, an attempt
was made to execute another job
by the sub task.
PARALLEL pendent control startup opera-
START tion. Check the job to be started and the execu-
4103 2
INSTRUCTION Group axis being used: tion timing for start command again.
ERROR The job operated by another sub
task uses the same group axis.
PARALLEL
tion.
START Check the job to be started and the execu-
4103 3 Multiple start of same job:
INSTRUCTION tion timing for start command again.
The job that was tried to be
ERROR
started was executed by another
sub task.

Alarm list
Alarm series 4000
Alarm Sub
number code
PARALLEL tion.
START Master job unregistration:
4103 4 Register the master job for sub task.
INSTRUCTION Although the master job was not
ERROR registered, an attempt was made
to execute PSTART SUB (job
name omitted).
tion.
PARALLEL
Synchronization instruction error:
START Check the job to be started and the execu-
4103 5 When restarted by PSTART, syn-
INSTRUCTION tion timing for start command again.
chronization instruction status of
ERROR
the sub task under interruption
was different from the status to
restart.
PARALLEL
tion.
START Reset the alarm, and then start the sub
4103 6 Stopped by an alarm:
INSTRUCTION task.
An attempt was made to start the
ERROR
sub task which is stopped by an
alarm.
An error occurred when an
instruction was executed by the
data transmission DCI function.
WRONG
The data indicates the cause of Reset the alarm, and then remove the
4104 EXECUTION OF
alarm. cause according to the alarm data.
LOAD INST
(Refer to the manual for Data
Transmission Function for
details.)
WRONG
4105 EXECUTION OF
SAVE INST
details.)
WRONG
4106 EXECUTION OF
DELETE INST
details.)
Move the manipulator or station to the zero
The position difference between position by the axis operation and check
OUT OF when the power was turned OFF the home position alignment marks (the
4107 RANGE (ABSO and when the power was turned arrow). If the zero position does not match
DATA) ON again exceeded the tolerance the home position, check if there is no
for the manipulator or a station. error in the PG system of the axis for
which the alarm occurred.

Alarm list
Alarm series 4000
Alarm Sub
number code
Check if the fuse of robot I/F unit (NIF01)
The external 24V power for I/Os
is not blown.
is not output.
DC24V POWER Check the 24V external power supply.
0000 0000_0001: Fuse blown (NIF01
4109 SUPPLY Check the communications cable for the I/
_00** unit)
FAILURE (I/O) O module
0000_0011: External 24 V power
supply error
SHOCK SEN-
Remove the cause of shock sensor activa-
4110 SOR ACTIVA- The shock sensor activated.
tion.
TION
BRAKE FUSE
4111 The brake fuse blew out. Replace the fuse.
BREAKDOWN
An error occurred during data
DATA SEND- Reset the alarm, and then remove the
4112 1 transmission.
ING ERROR cause.
Retry over of NAK

DATA SEND- Reset the alarm, and then remove the
ING ERROR cause.
Retry over for timeout in timer A

DATA SEND- transmission. Reset the alarm, and then remove the
4112 3
ING ERROR Retry over for mutual response cause.
error

DATA RECEIV- Reset the alarm, and then remove the
ING ERROR cause.
Reception timeout (timer A)

ING ERROR cause.
Reception timeout (timer B)

ING ERROR cause.
Heading length is too short.

ING ERROR cause.
Heading length is too long.

ING ERROR cause.
The header No. error

DATA RECEIV- transmission. Reset the alarm, and then remove the
4113 6
ING ERROR The text length exceeded 256 cause.
characters.
TRANSMIS- An error occurred during data
Reset the alarm, and then remove the
4114 1 SION HARD- transmission.
cause.
WARE ERROR Overrun error
cause.
WARE ERROR Parity error
cause.
WARE ERROR Framing error

Alarm list
Alarm series 4000
Alarm Sub
number code
cause.
WARE ERROR Transmission timeout (timer A)
cause.
WARE ERROR Transmission timeout (timer B)
transmission.
(This alarm occurs when
received data cause inconsist-
ency on the system although the
TRANSMIS-
transmission protocol is correct. Reset the alarm, and then remove the
4115 1 SION SYSTEM
Mainly, this alarm occurs due to cause.
BLOCK
an illegal transmission or
erronous report at the data send-
ing side.)
Received EOT while waiting
ACK.
transmission.
TRANSMIS-
4115 2 SION SYSTEM
BLOCK
ing side.)
Received EOT while waiting
ENQ.
transmission.
TRANSMIS-
4115 3 SION SYSTEM
BLOCK
ing side.)
Received EOT before last block
reception.
transmission.
TRANSMIS-
4115 4 SION SYSTEM
BLOCK
ing station.)
Received codes other than EOT
after last block reception.
TRANSMIS- Turn the power OFF then back ON.
4116 SION SYSTEM If the error occurs again, contact your
transmission.

Alarm list
Alarm series 4000
Alarm Sub
number code
Reset the alarm, and then move the
FAN ERROR manipulator to the safe position in the
The rotation speed of in-panel
4119 (IN CONTROL teach mode. The in-panel cooling fan
cooling fan decreased.
BOX) needs to be replaced. Contact your
The rotation speed of the cooling
manipulator to the safe position in the
COOLING FAN fan 1 with alarm sensor con-
4121 teach mode. The cooling fan 1 needs to
1 ERROR nected to the contactor unit
be replaced. Contact your MOTOMAN
decreased.
representative.
decreased.
representative.
decreased.
representative.
An error occurred during the Reset the alarm, and then try again.
SYSTEM
access to file data (during file edi- Turn the power OFF then back ON.
4200 ERROR
tion or external memory device If the error occurs again, contact your
(FILE DATA)
operation). MOTOMAN representative.
Reset the alarm, and then try again.
4201 -1 access to a job in parameter
ERROR (JOB) If the error occurs again, contact your
specifications.
SYSTEM Access time exceeded the limit Turn the power OFF then back ON.
4201 -2
ERROR (JOB) during the access to a job. If the error occurs again, contact your
The access to a job could not be Reset the alarm, and then try again.
SYSTEM performed with the specified job Turn the power OFF then back ON.
4201 -3
ERROR (JOB) name. This occurred when If the error occurs again, contact your
accessing a job. MOTOMAN representative.
The character not allowed was
4201 -4 used as a job name. This
occurred when accessing a job.
A job was newly created with the Reset the alarm, and then try again.
SYSTEM same name of the job already Turn the power OFF then back ON.
4201 -5
ERROR (JOB) specified in the memory. This If the error occurs again, contact your
occurred when accessing a job. MOTOMAN representative.
The allowable job registration
SYSTEM area (memory) was exceeded.
4201 -6 Delete unused jobs and/or expand CMOS.
ERROR (JOB) This occurred when accessing a
job.

A job that did not exist in the
4201 -7 memory was specified. This

Alarm list
Alarm series 4000
Alarm Sub
number code
An attempt was made to change
SYSTEM the contents for the job prohibited
4201 -8 Release the prohibition and change it.
ERROR (JOB) from being edited. This occurred
when accessing a job.
SYSTEM An error occurred during the Turn the power OFF then back ON.
4201 -9
ERROR (JOB) access to a job in handle value. If the error occurs again, contact your
4201 -10 access to a job in job data control
system.
4201 -11 access to a job in sequence
number of the accessed job.
4201 -12 access to a job in step number of
the accessed job.
A job specified at job search did
4201 -13 not exist in the memory. This
There was an instruction that did
not exist in a job because of
SYSTEM Check the NCP01 and NCP02 software
4201 -14 inconsistency of the system soft-
ERROR (JOB) versions before/after updating.
ware. This occurred when
accessing a job.
Unused handles were lacking
4201 -16 when an attempt was made to
open a job.
The number of instructions added
SYSTEM Delete unnecessary instructions and add
4201 -18 to a job exceeded 9999. This
ERROR (JOB) new instructions.
The number of steps added to a
SYSTEM Delete unnecessary steps and add new
4201 -19 job exceeded 9999. This
ERROR (JOB) steps.
A job was newly created with the
same name of the undefined job
4201 -20 already specified in the memory.
This occurred when accessing a
job.
A job data in the memory was
4201 -99 destroyed. This occurred when
accessing a job.
An error occurred during the Reset the alarm, and then try again.
SYSTEM
access to a job (during job edition Turn the power OFF then back ON.
4202 ERROR
or external memory device oper- If the error occurs again, contact your
(JOB)
ation). MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
An error occurred in position data
control process.
SYSTEM
The memory area for position
4203 -1 ERROR (POSI- Initialize the job in the maintenance mode.
data is lacking at the initialization
TION DATA)
of the position data control proc-
ess.
control process.
SYSTEM
The number of axes for all the
control groups is zero at the ini-
TION DATA)
tialization of the position data
control process
When the data is loaded from the external
memory, the control axis for external mem-
An error occurred in position data ory is different from that for system. Initial-
SYSTEM
control process. ize the job.
4203 -3 ERROR (POSI-
The number of axes for position When a point is added, the job is not initial-
TION DATA)
data is zero. ized after the control axis for system was
changed to a different control group by
system configuration. Initialize the job.
control process.
SYSTEM
The number of stored position
data exceeded the maximum
TION DATA)
stored data at the initialization of
the position data control process.
control process.
SYSTEM The memory size of the position
4203 -5 ERROR (POSI- data exceeded the maximum Initialize the job in the maintenance mode.
TION DATA) memory size at the initialization
of the position data control proc-
ess.
SYSTEM
control process.
Unused position data file is
TION DATA)
destroyed.
SYSTEM
control process. Delete unnecessary steps (position data)
Unused position data file does and add position data.
TION DATA)
not exist.
SYSTEM An error occurred in position data
4203 -8 ERROR (POSI- control process. Initialize the job in the maintenance mode.
TION DATA) Position data file is destroyed.
SYSTEM
control process.
Position data control information
TION DATA)
is destroyed.
SYSTEM
control process.
An error occurred in specified
TION DATA)
position data number.
SYSTEM An error occurred in position data
4203 -11 ERROR (POSI- control process.
TION DATA) Position data is not registered.

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
control process. If the error occurs again, contact your
An attempt was made to access MOTOMAN representative.
TION DATA)
the undefined position data.
SYSTEM control process.
4203 -13 ERROR (POSI- An attempt was made to access
TION DATA) the position data for the unde-
fined control group.
SYSTEM
Position data control is not initial- MOTOMAN representative.
TION DATA)
ized.
SYSTEM
The number of axes for the con- MOTOMAN representative.
TION DATA)
trol groups exceeded the limit.
SYSTEM
An error occurred in exclusive MOTOMAN representative.
TION DATA)
control.
SYSTEM
An error occurred in exceptional MOTOMAN representative.
TION DATA)
control.
SYSTEM Reset the alarm, and then try again.
ERROR Turn the power OFF then back ON.
4204 access to position data (in play-
(POSITION If the error occurs again, contact your
back operation or in motion).
DATA) MOTOMAN representative.
SYSTEM
ERROR An error occurred in data trans-
(TRANSMIS- mission.
SION)
A system error occurred in
MOTION.
SYSTEM <Command-related processsing
4207 1 ERROR FATAL error>
(MOTION) An interrupt undefined in the
main command from the system
control section occurred.
MOTION.
SYSTEM <Command-related processsing
(MOTION) An interrupt undefined in the sub
command from the system con-
trol section occurred.
MOTION.
<Command-related processing Reset the alarm, and then try again.
SYSTEM
FATAL error> Turn the power OFF then back ON.
4207 3 ERROR
The interrupt command that was If the error occurs again, contact your
(MOTION)
sent previously from the system MOTOMAN representative.
control section is being proc-
essed.

Alarm list
Alarm series 4000
Alarm Sub
number code
MOTION.
SYSTEM <Command-related processing
(MOTION) An error was detected in the
interrupt command data from the
system control section.
MOTION.
(MOTION) An undefined command was
detected in the sub segment task
of MOTION.
MOTION.
detected in the servo-related
processing of MOTION.
MOTION.
detected in the offline processing
task of MOTION.
MOTION.
detected in the utility task of
MOTION.
A system error occurred in Reset the alarm, and then try again.
SYSTEM
MOTION. Turn the power OFF then back ON.
4207 10 ERROR
<Object Token not generated> If the error occurs again, contact your
(MOTION)
Task Token is not generated. MOTOMAN representative.
SYSTEM
4207 11 ERROR
<Object Token not generated> If the error occurs again, contact your
(MOTION)
Mail-box Token is not generated. MOTOMAN representative.
SYSTEM MOTION.
4207 12 ERROR <Object Token not generated>
(MOTION) Semaphore Token is not gener-
ated.
SYSTEM MOTION.
4207 13 ERROR <Object Token not generated>
(MOTION) Memory-pool Token is not gener-
ated.
SYSTEM
4207 14 ERROR
<RMS960 system call error> If the error occurs again, contact your
(MOTION)
RMS receiving data error MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 15 ERROR
<RMS960 system calll error> If the error occurs again, contact your
(MOTION)
RMS sending data error MOTOMAN representative.
SYSTEM
4207 16 ERROR
(MOTION)
RMS receiving unit error MOTOMAN representative.
SYSTEM
4207 17 ERROR
(MOTION)
RMS sending unit error MOTOMAN representative.
SYSTEM
4207 18 ERROR
(MOTION)
Task generation error MOTOMAN representative.
SYSTEM
4207 19 ERROR
(MOTION)
Mail-box generation error MOTOMAN representative.
SYSTEM
4207 20 ERROR
(MOTION)
Semaphore generation error MOTOMAN representative.
SYSTEM
4207 21 ERROR
(MOTION)
Token pointer error MOTOMAN representative.
SYSTEM MOTION.
4207 22 ERROR <Object Token work area over-
(MOTION) flow>
TCB area overflow
SYSTEM MOTION.
(MOTION) flow>
Stack area overflow
SYSTEM MOTION.
(MOTION) flow>
Mail-box area overflow
SYSTEM MOTION.
(MOTION) flow>
Semaphore area overflow
SYSTEM MOTION.
4207 30 ERROR <Application-processing-related
(MOTION) FATAL error>
Main command error

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM MOTION.
MSS system - ID number error
SYSTEM MOTION.
HA-MSS system number error
MOTION. Reset the alarm, and then try again.
SYSTEM
<Application-processing-related Turn the power OFF then back ON.
4207 33 ERROR
FATAL error> If the error occurs again, contact your
(MOTION)
Incorrect control group designa- MOTOMAN representative.
tion
SYSTEM
4207 34 ERROR
(MOTION)
Offline bank semaphore recep- MOTOMAN representative.
tion error
SYSTEM
4207 35 ERROR
(MOTION)
m_gen_area semaphore recep- MOTOMAN representative.
tion error
SYSTEM MOTION.
Offline HA processing timeout
SYSTEM
4207 37 ERROR
(MOTION)
DM_BANK flag error (DM_BANK MOTOMAN representative.
conversion processing)
SYSTEM
4207 38 ERROR
(MOTION)
S → M offline processing com- MOTOMAN representative.
mand type error
SYSTEM
4207 39 ERROR
(MOTION)
SL data transmission request MOTOMAN representative.
function error

Alarm list
Alarm series 4000
Alarm Sub
number code
MOTION.
SYSTEM <Application-processing-related
(MOTION) Error in designation of application
in the request of general-purpose
data preset for each application.
SYSTEM
4207 41 ERROR
(MOTION)
Error in the parameter to prepare MOTOMAN representative.
the speed data table
SYSTEM
4207 42 ERROR
(MOTION)
the global-variable control table
SYSTEM
4207 43 ERROR
(MOTION)
the axis control table
MOTION.
(MOTION) Error in the parameter to prepare
the online servo-constant modifi-
cation table
SYSTEM
4207 45 ERROR
(MOTION)
Mail-box of sequence task is not MOTOMAN representative.
ready.
SYSTEM MOTION.
Control-group usage undefined
SYSTEM
4207 47 ERROR
(MOTION)
Segment task polling command MOTOMAN representative.
error
SYSTEM MOTION.
Physical axis number error

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 49 ERROR
(MOTION)
The control group impossible to MOTOMAN representative.
release the brake
SYSTEM MOTION.
Sub-segment request FULL
SYSTEM MOTION.
Sub-segment process timeout
SYSTEM MOTION.
Data latch request FULL
SYSTEM MOTION.
Data latch process timeout
SYSTEM MOTION.
AXIS command request FULL
SYSTEM MOTION.
AXIS command process timeout
Reset the alarm, and then try again. Turn
SYSTEM MOTION.
the power OFF then back ON. If the error
occurs again, contact your MOTOMAN
representative.
Positioning monitor request FULL
SYSTEM
4207 57 ERROR
(MOTION)
Positioning monitor process time- MOTOMAN representative.
out
MOTION.
(MOTION) Failed AXIS servo OFF com-
mand request during emergency
stop

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM MOTION.
Memory pool area overflow
MOTION.
(MOTION) Conversion primary expression
for Power Source command ↔
EW command not prepared
SYSTEM
4207 62 ERROR
(MOTION)
Duplicated request error during MOTOMAN representative.
master control-group tracking
SYSTEM
4207 63 ERROR
(MOTION)
GVM shared resource sema- MOTOMAN representative.
phore error
SYSTEM MOTION.
Job queue DEQUE error
MOTION.
(MOTION) Convertion primary expression
for painting device command ↔
EW command not prepared
SYSTEM
4207 66 ERROR
(MOTION)
Execution system decision table MOTOMAN representative.
not set
SYSTEM
4207 67 ERROR
(MOTION)
Unknown mode data (Without MOTOMAN representative.
TEACH/PLAY mode data)
SYSTEM
4207 68 ERROR
(MOTION)
Shift-value output timeout of the MOTOMAN representative.
general-purpose sensor

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM MOTION.
Interrupt main status set
MOTION.
(MOTION) System number error at the mas-
ter side in twin synchronous sys-
tem
SYSTEM
4207 72 ERROR
(MOTION)
No data link added to the com- MOTOMAN representative.
mand
SYSTEM
4207 73 ERROR
(MOTION)
Setting status error of the user MOTOMAN representative.
coordinates file
SYSTEM
4207 75 ERROR
(MOTION)
Previous path data reference MOTOMAN representative.
error
SYSTEM
4207 76 ERROR
(MOTION)
Target position preparation error MOTOMAN representative.
in arc-retry shift motion mode
MOTION.
(MOTION) Request to compensate position
error of the axis that is not end-
less axis
SYSTEM MOTION.
Inner track zone status error
SYSTEM
4207 80 ERROR
(MOTION)
Instruction queue and instruction MOTOMAN representative.
system data area overflow

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM MOTION.
Offline answer bank flag error
SYSTEM
4207 82 ERROR
(MOTION)
Path and trace queue ENQUE MOTOMAN representative.
BANK error
SYSTEM
4207 83 ERROR
(MOTION)
Pending and block end request MOTOMAN representative.
FULL
SYSTEM MOTION.
Base axis file type error
SYSTEM
4207 85 ERROR
(MOTION)
Output buffer SYSCON for auto- MOTOMAN representative.
matic test data in use
MOTION.
(MOTION) Conversion completion status for
AXIS section feedback latch data
not established
SYSTEM MOTION.
Sensor number (SL#) error
SYSTEM
4207 88 ERROR
(MOTION)
File C1 through C3 for calibtaion MOTOMAN representative.
between manipulators not set
SYSTEM
4207 89 ERROR
(MOTION)
File C1 through C3 for conveyor MOTOMAN representative.
calibration not set

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 90 ERROR
(MOTION)
HA function error MOTOMAN representative.
(conv_pos_data())
SYSTEM
4207 91 ERROR
(MOTION)
(conv_shift_data())
SYSTEM
4207 92 ERROR
(MOTION)
(trans_angle_to_pulse())
SYSTEM
4207 93 ERROR
(MOTION)
(trans_pulse_to_angle())
SYSTEM
4207 94 ERROR
(MOTION)
(conv_pulse_to_angle())
SYSTEM
4207 95 ERROR
(MOTION)
(pr_atinf_pos_make())
SYSTEM
4207 96 ERROR
(MOTION)
(make_pos_data())
SYSTEM
4207 100 ERROR
(MOTION)
Control-group axis configuration MOTOMAN representative.
information parameter error
SYSTEM
4207 101 ERROR
(MOTION)
Error in the parameter for the MOTOMAN representative.
table for physical axes

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 102 ERROR
(MOTION)
Error in the parameter for the MOTOMAN representative.
table for physical TU
SYSTEM
4207 103 ERROR
(MOTION)
Excessive number of control MOTOMAN representative.
group axes in use
SYSTEM
4207 104 ERROR
(MOTION)
JOG and PLAY maximum speed MOTOMAN representative.
setting parameter error
SYSTEM MOTION.
Job argument over
SYSTEM MOTION.
Job argument stack overflow
SYSTEM MOTION.
Job argument stack underflow
MOTION.
(MOTION) Designation error of the fetched
feedback pulse area at prepara-
tion of current value
MOTION.
(MOTION) Timeout for waiting permission to
modify the number of averaging
times
SYSTEM
4207 129 ERROR
(MOTION)
Object undefined for CLEAR MOTOMAN representative.
instruction

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 130 ERROR
(MOTION)
No space in RT_BANK setting MOTOMAN representative.
area for correction-amount data
MOTION.
(MOTION) Queue operation error for varia-
ble write-in history at prereading
(at ENQUE)
MOTION.
(at DEQUE)
MOTION.
(undefined operation)
MOTION.
(data length too long)
SYSTEM
4207 135 ERROR
(MOTION)
Queue operation error for score- MOTOMAN representative.
board setting history (at ENQUE)
SYSTEM
4207 136 ERROR
(MOTION)
Queue operation error for score- MOTOMAN representative.
board setting history (at DEQUE)
MOTION.
(MOTION) Queue operation error for score-
board setting history (undefined
operation)

Alarm list
Alarm series 4000
Alarm Sub
number code
MOTION.
(MOTION) Queue operation error for score-
board setting history (data length
too long)
SYSTEM
4207 139 ERROR
(MOTION)
Queue operation error for MOTOMAN representative.
instruction execution (at ENQUE)
SYSTEM
4207 140 ERROR
(MOTION)
Queue operation error for instruc- MOTOMAN representative.
tion execution (at DEQUE)
MOTION.
(MOTION) Queue operation error for instruc-
tion execution (undefined opera-
tion)
MOTION.
(MOTION) Queue operation error for instruc-
tion execution (data length too
long)
SYSTEM
4207 143 ERROR
(MOTION)
Queue operation error for WORK MOTOMAN representative.
ID conveyor (at ENQUE)
SYSTEM
4207 144 ERROR
(MOTION)
Queue operation error for WORK MOTOMAN representative.
ID conveyor (at DEQUE)
MOTION.
(MOTION) Queue operation error for WORK
ID conveyor (undefined opera-
tion)

Alarm list
Alarm series 4000
Alarm Sub
number code
MOTION.
ID conveyor (data length too
long)
MOTION.
IN/OUT checking conveyor (at
ENQUE)
MOTION.
IN/OUT checking conveyor (at
DEQUE)
MOTION.
IN/OUT checking conveyor
(undefined operation)
MOTION.
IN/OUT checking conveyor (deta
length too long)
MOTION.
(MOTION) Queue operation error for waiting
for semaphore for LOCK instruc-
tion (at ENQUE)
MOTION.
tion (at DEQUE)
MOTION.
tion (undefined operation)

Alarm list
Alarm series 4000
Alarm Sub
number code
MOTION.
tion (data length too long)
SYSTEM
4207 222 ERROR
(MOTION)
Impossible to execute system MOTOMAN representative.
exclusive for system job
SYSTEM
4207 223 ERROR
(MOTION)
Event queue number range MOTOMAN representative.
exceeded
SYSTEM
4207 224 ERROR
(MOTION)
No motor-gun control group for MOTOMAN representative.
ESRCH instruction
MOTION.
<Application-processing-related Reset the alarm, and then try again.
SYSTEM
4207 225 ERROR
The number of WORK ID data If the error occurs again, contact your
(MOTION)
and the MAX. WORK FIND MOTOMAN representative.
COUNT unmatched (MOTION ≠
CV)
MOTION.
SYSTEM
4207 226 ERROR
The number of WORK IN/OUT If the error occurs again, contact your
(MOTION)
data and the MAX. WORK FIND MOTOMAN representative.
COUNT unmatched (MOTION ≠
CV)
SYSTEM
4207 227 ERROR
(MOTION)
Excessive number of schedulings MOTOMAN representative.
for execution of instructions
SYSTEM
4207 228 ERROR
(MOTION)
Instruction execution scheduling MOTOMAN representative.
impossible

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 229 ERROR
(MOTION)
Illegal 1st-line move instruction at MOTOMAN representative.
execution of +SMOV instruction
MOTION.
SYSTEM
4207 230 ERROR
Impossible to execute the slave If the error occurs again, contact your
(MOTION)
circular interpolation and the MOTOMAN representative.
master circular interpolation at
the same time
MOTION.
SYSTEM
4207 231 ERROR
Impossible to execute the slave If the error occurs again, contact your
(MOTION)
spline interpolation and the mas- MOTOMAN representative.
ter spline interpolation at the
same time
SYSTEM
4207 232 ERROR
(MOTION)
Illegal index value for a +MOVx MOTOMAN representative.
instruction
MOTION.
(MOTION) No xth-line move instruction
exists where the master control
group belongs.
SYSTEM
4207 234 ERROR
(MOTION)
Marking error for WORK ID con- MOTOMAN representative.
veyor queue (empty queue)
SYSTEM
4207 235 ERROR
(MOTION)
Marking error for WORK IN/OUT MOTOMAN representative.
conveyor queue (empty queue)
MOTION.
(MOTION) Data error 1 at restarting after an
emergency stop (actual status
and the data status unmatched)

Alarm list
Alarm series 4000
Alarm Sub
number code
MOTION.
MOTION.
SYSTEM
4207 239 ERROR
(MOTION)
Timeout for receiving segment MOTOMAN representative.
data output request
MOTION.
SYSTEM
4207 240 ERROR
The number which designates If the error occurs again, contact your
(MOTION)
the setting area of correction MOTOMAN representative.
amount in RT_BANK exceeded
the limit value.
SYSTEM
4207 241 ERROR
(MOTION)
Task error of the function calling MOTOMAN representative.
source (cv_sync_intr ( ))
SYSTEM
4207 242 ERROR
(MOTION)
No control group for motor gun MOTOMAN representative.
for clearance move instruction
SYSTEM
4207 243 ERROR
(MOTION)
Motor gun conditon file number MOTOMAN representative.
error (including gun pressure file)
SYSTEM
4207 244 ERROR
(MOTION)
GETTOOLW manipulator desig- MOTOMAN representative.
nation error
SYSTEM
4207 245 ERROR
(MOTION)
Overflow of entry number for MOTOMAN representative.
instruction execution

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 246 ERROR
(MOTION)
Data latch processing (function MOTOMAN representative.
number overflow)
SYSTEM
4207 247 ERROR
(MOTION)
Data latch processing (real-time MOTOMAN representative.
status number overflow)
MOTION.
(MOTION) Failed to set a timer unit. (No allo-
cation space for timer unit set-
ting)
MOTION.
(MOTION) Segment data missing
(seg_t_req was not received in
time.)
SYSTEM MOTION.
GETS instruction internal error
SYSTEM MOTION.
SETFILE undefined file
SYSTEM MOTION.
GETFILE undefined file
MOTION.
(MOTION) The parameter was destroyed
when a GETPRM instruction was
executed.
SYSTEM MOTION.
Null pointer assignment detected

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 255 ERROR
(MOTION)
Function or other processing MOTOMAN representative.
parameter error
SYSTEM MOTION.
System clock (RTC) setting error
SYSTEM
4207 1001 ERROR
(MOTION)
System task priority arrangement MOTOMAN representative.
error
SYSTEM
4207 1002 ERROR
(MOTION)
VxWorks primitive error MOTOMAN representative.
(msgQCreate)
SYSTEM
4207 1003 ERROR
(MOTION)
(msgQSend)
SYSTEM
4207 1004 ERROR
(MOTION)
(msgQReceive)
SYSTEM
4207 1005 ERROR
(MOTION)
(semBCreate)
SYSTEM
4207 1006 ERROR
(MOTION)
(semGive)
SYSTEM
4207 1007 ERROR
(MOTION)
VxWorks primitive error (sem- MOTOMAN representative.
Take)

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4207 2000 ERROR
(MOTION)
Failed system job environment MOTOMAN representative.
configuration
SYSTEM A system error occurred in the Reset the alarm, and then try again.
4208 1 ERROR path control section. If the error occurs again, contact your
(ARITH) Prereading task is not completed. MOTOMAN representative.
A system error occurred in the
path control section.
The answer bank flag is already
(ARITH) MOTOMAN representative.
set.
(ARITH) Inner path motion is impossible. MOTOMAN representative.
Error in the number of position
data
The averaging buffer in the arith-
metic section is destroyed.
(ARITH) No previous bank exists. MOTOMAN representative.
(ARITH) The answer bank flag is ON. MOTOMAN representative.
An error occurred in preparation
of current position.
Mails could not correctly be
received in the current task.
Spline-curve path designation
error
SYSTEM path control section. Reset the alarm, and then try again.
4208 11 ERROR The previous bank’s prereading If the error occurs again, contact your
(ARITH) conversion could not correctly be MOTOMAN representative.
completed.
4208 12 ERROR A manipulator designation error If the error occurs again, contact your
(ARITH) occurred at JOG operation using MOTOMAN representative.
the external reference point.
Designation error of cubic inter-
ference coordinates

Alarm list
Alarm series 4000
Alarm Sub
number code
Path control position data error of
prereading bank
Weaving control position data
error of prereading bank
Station/base axis motion com-
mand error
(ARITH) User coordinates number error MOTOMAN representative.
Processing error in re-prepara-
tion of segment control data
4208 20 ERROR Prereading task not completed at If the error occurs again, contact your
(ARITH) master in twin synchronous sys- MOTOMAN representative.
tem
Zero division occurred at
observer operation.
Processing error in optimized
acceleration/deceleration control
(ARITH) Dynamic model arithmetic error MOTOMAN representative.
Speed limit control error (exces-
sive moment of gravity)
(ARITH) Square root of a negative number MOTOMAN representative.
4208 26 ERROR The system number is not set at If the error occurs again, contact your
(ARITH) master in twin synchronous sys- MOTOMAN representative.
tem.
Designation error of control group
for servo sealer gun
Designation error of control con-
dition for servo sealer gun

Alarm list
Alarm series 4000
Alarm Sub
number code
(ARITH) FORMCUT internal control error MOTOMAN representative.
Arm interference check error
(radius data referencing mistake)
4208 31 ERROR Arm interference check error If the error occurs again, contact your
(ARITH) (miscalculation using direct kine- MOTOMAN representative.
matics)
Arm interference check error (L-
axis expansion flag setting error)
Arm interference check error
(check-point re-setting error)
Impossible to edit the averaging
buffer (zero division)
4208 35 ERROR No master-group is designated at If the error occurs again, contact your
(ARITH) preparation of master-tool user MOTOMAN representative.
coordinates.
Gauging function error (com-
mand designation error)
The coordinated motion cannot be per-
SYSTEM path control section.
formed by the Following function. Change
4208 38 ERROR A coordinated motion was
the setting so that only the manipulator
(ARITH) attempted using the Following
moves.
function.
4208 39 ERROR Zero or a negative value is set for Set a positive value for the bending speed.
(ARITH) the bending speed of the Follow-
ing function.
4208 40 ERROR Zero or a negative value is set for Set a positive value for the bending stroke.
(ARITH) the bending stroke of the Follow-
ing function.
(ARITH) Pulse linked JOG function error MOTOMAN representative.
(ARITH) Special JOG operation error MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
4208 43 ERROR Following function error (The If the error occurs again, contact your
(ARITH) used manipulator model does not MOTOMAN representative.
support 7-axis Following Control.)
OFFLINE
offline position-data preparation Reset the alarm, and then try again.
SYSTEM
4209 100 section. If the error occurs again, contact your
ERROR
Data setting error in offline data MOTOMAN representative.
(ARITH)
bank
OFFLINE
SYSTEM
ERROR
Data setting error in offline MOTOMAN representative.
(ARITH)
answer bank
OFFLINE
SYSTEM
ERROR
OFF_USER_POS occupation MOTOMAN representative.
(ARITH)
control error
OFFLINE
SYSTEM
ERROR
OFF_USER_POS valid control MOTOMAN representative.
(ARITH)
error
OFFLINE A system error occurred in the
SYSTEM offline position-data preparation
ERROR section.
(ARITH) Mail-receiving error of offline task
OFFLINE A system error occurred in the
SYSTEM offline position-data preparation
ERROR section.
(ARITH) Offline occupation control error
OFFLINE
SYSTEM
ERROR
Designation error for offline cubic MOTOMAN representative.
(ARITH)
interference coordinates
OFFLINE
SYSTEM
ERROR
OFF_USER_ROT_POS occupa- MOTOMAN representative.
(ARITH)
tion control error
OFFLINE
SYSTEM
ERROR
OFF_USER_ROT_POS valid MOTOMAN representative.
(ARITH)
control error
OFFLINE
SYSTEM
ERROR
OFF_CV_CALIB_POS occupa- MOTOMAN representative.
(ARITH)
tion control error

Alarm list
Alarm series 4000
Alarm Sub
number code
OFFLINE
SYSTEM
ERROR
OFF_CV_CALIB_POS valid con- MOTOMAN representative.
(ARITH)
trol error
OFFLINE
SYSTEM
ERROR
Incorrect teaching for offline con- MOTOMAN representative.
(ARITH)
veyor tracking turntable function
OFFLINE offline position-data preparation
SYSTEM section.
ERROR No manipulator is designated for
(ARITH) offline conveyor tracking turnta-
ble function.
SYSTEM An error occurred in local variable
4210 -1 ERROR control process.
(Local variable) Local variable is not used.
An error occurred in local variable Reset the alarm, and then try again.
SYSTEM
control process. Turn the power OFF then back ON.
4210 -2 ERROR
Memory area for local variable If the error occurs again, contact your
(Local variable)
could not be obtained. MOTOMAN representative.
An error occurred in local variable
4210 -3 ERROR No unused handle value exists
(Local variable) when local variable area is cre-
ated.
SYSTEM
4210 -4 ERROR
An error occurred in exclusive If the error occurs again, contact your
(Local variable)
control. MOTOMAN representative.
SYSTEM
4210 -5 ERROR
Handle value is invalid for speci- If the error occurs again, contact your
(Local variable)
fied local variable. MOTOMAN representative.
SYSTEM
4210 -6 ERROR
Handle value is incorrect for If the error occurs again, contact your
(Local variable)
specified local variable. MOTOMAN representative.
4210 -7 ERROR An error occurred when memory
(Local variable) area for local variable was
released.
4210 -8 ERROR An error occurred when memory
(Local variable) area for local variable was regis-
tered.
SYSTEM
4210 -9 ERROR
Local variable control process is If the error occurs again, contact your
(Local variable)
not initialized. MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
SYSTEM
4210 -10 ERROR
Local variable area shared heap If the error occurs again, contact your
(Local variable)
area. MOTOMAN representative.
SYSTEM
4210 -11 ERROR
(Local variable)
The servo power is not supplied
SERVO Turn OFF the servo power supply, and
to the job control group axis (con-
4220 POWER OFF then turn ON the servo power supply for
trol group for subcode) to be
FOR JOB the group axis to be operated.
operated.
The servo power is not supplied
SERVO Turn OFF the servo power supply, and
to the job control group axis (con-
4221 POWER OFF then turn ON the servo power supply for
trol group for subcode) to be
FOR JOB the group axis to be operated.
operated.
A dual signal is mutually checking
INPUT with the result that Enable switch
COMPARISON (DSW and EXDSW) I/O signal Check the enable switch (DSW and
4223
ERROR does not have a match signal as EXDSW) I/O signal.
(DSW) a result the mutual check of a
dual signal.
SAFE CIRCUIT
SIGNAL DISA- A safety circuit signal error Check the wiring of the safety circuit signal
4223 1
GREEMENT occurred in I/O unit. cables connected to the I/O contactor unit.
(SERVO)
SAFE CIRCUIT
4223 2
(SERVO)
SAFE CIRCUIT
4223 3
(SERVO)
MEMORY PLAY An error occurred in control proc- Turn the power OFF then back ON.
4224 -1
FILE ERROR ess for memory play file. If the error occurs again, contact your
An error occurred in memory play
file.
MEMORY PLAY Needs investigation. Contact your MOTO-
4224 -2 The arrangement address infor-
FILE ERROR MAN representative.
mation is destroyed for memory
play file system.
file.
4224 -3 The fixed control information is
destroyed for memory play file
system.
MEMORY PLAY The memory play file number is Needs investigation. Contact your MOTO-
4224 -4
FILE ERROR incorrect. MAN representative.
file.
4224 -5 An attempt was made to newly
register the memory play file
under use.

Alarm list
Alarm series 4000
Alarm Sub
number code
file.
4224 -6 An error occurred in checking
written sampling data when the
data was written to CMOS.
MEMORY PLAY file. Needs investigation. Contact your MOTO-
4224 -7
FILE ERROR An attempt was made to access MAN representative.
an unused memory play file data.
MEMORY PLAY The memory play file is Needs investigation. Contact your MOTO-
4224 -8
FILE ERROR destroyed. MAN representative.
4224 -9
FILE ERROR The memory area for sampling MAN representative.
data is full.
4224 -10 file.
The sampling data is destroyed.
MEMORY PLAY Data in control process for mem- Needs investigation. Contact your MOTO-
4224 -11
FILE ERROR ory play file is incorrect. MAN representative.
4224 -12
FILE ERROR The sampling data is scanned MAN representative.
only at top or end position.
4224 -13
FILE ERROR The memory play file system is MAN representative.
not initialized.
4224 -14
FILE ERROR The offset value is out of range at MAN representative.
sampling data scanning.
SERVO
The parameter input value is out Reset the value within the allowable
4300 PARAMETER
of the allowable range. range.
ERROR
An error occurred in the contactor
due to a defective contactor unit
or circuit board.
The contactor of contactor unit
did not turn ON at servo ON.
The signal from the contactor
Reset the alarm, and then turn ON the
CONTACTOR turned OFF while the servo was
4301 servo again.
ERROR ON.
Check the 24-V power supply for I/O.
The signal from the contactor
remains ON when the servo
turned OFF at emergency stop.
The contactor turned ON while
the servo was OFF for emer-
gency stop.

Alarm list
Alarm series 4000
Alarm Sub
number code
The brake relay signal did not
turn ON when the servo turned
ON.
The brake relay signal turned
Reset the alarm, and then turn ON the
OFF while the servo was ON.
BRAKE CIR- servo again. If the error occurs again,
4302 The brake signal remains ON
CUIT ERROR replace the contactor unit and/or servo
when the servo turned OFF at
emergency stop.
The brake signal turned ON while
the servo was OFF for emer-
gency stop.
No response of charge comple-
tion was sent from the converter
when the servo turned ON.
The SERVO READY signal
turned OFF while the servo was
ON.
The SERVO READY signal Reset the alarm, and then turn ON the
CONVERTER remains ON when the servo servo again.
4303 READY SIG- turned OFF at emergency stop. Check the primary power supply voltage.
NAL ERROR The SERVO READY signal If the error occurs again, replace the servo
turned ON while the servo was control circuit board and/or converter.
OFF for emergency stop.
The primary power supply volt-
age is too low.
The voltage dropped.
Defective servo control and/or
converter
No response of primary power
supply input was sent from the
converter when the servo turned
ON.
The READY 1 signal remains ON Check the wiring for the primary power
when the servo turned OFF at supply of the SERVOPACK.
CONVERTER
emergency stop. Confirm that the power supply voltage is
4304 INPUT POWER
The READY 1 signal turned ON 170V or more.
ERROR
while the servo was OFF for If the error occurs again, replace the servo
emergency stop. control circuit board and/or converter.
Incorrect wiring or voltage drop of
primary power supply
Defective servo control and/or
converter
No response (READY 2 signal) of
charge completion was sent from
the converter when the servo
turned ON.
The READY 2 signal turned OFF
while the servo was ON. Check the wiring for the primary power
CONVERTER The READY 2 signal remains ON supply of the SERVOPACK.
CIRCUIT when the servo turned OFF at Confirm that the power supply voltage is
4305
CHARGE emergency stop. 170V or more.
ERROR The READY 2 signal turned ON If the error occurs again, replace the servo
while the servo was OFF for control circuit board and/or converter.
emergency stop.
Incorrect wiring and/or voltage
drop of primary power supply
Defective servo control circuit
board, converter, and/or amplifier

Alarm list
Alarm series 4000
Alarm Sub
number code
No response "Power ON" was
sent from the amplifier when the
servo turned ON.
The amplifier READY signal
Check the wiring for the primary power
turned OFF while the servo was
supply of the SERVOPACK.
ON.
AMPLIFIER Confirm that the power supply voltage is
4306 READY SIG- 170V or more.
remains ON when the servo
NAL ERROR If the error occurs again, replace the
turned OFF at emergency stop.
WRCA01 circuit board, servo control cir-
cuit board, converter, and/or amplifier.
turned ON while the servo was
OFF for emergency stop.
Defective servo control circuit
board, converter, and/or amplifier
The motion speed of the encoder
before the dynamic brake turns
OFF in servo ON sequence The control power supply cannot be turned
SERVO ON exceeded the threshold for a cer- ON while the manipulator is moving.
4307
SPEED ERROR tain period. Stop the manipulator motion, and then turn
The servo power supply turned ON the servo power supply.
ON while the manipulator (motor
and encoder) was moving.
The DC power voltage supplied
to the SERVOPACK amplifier Check the wiring for the primary power
dropped below 143V due to: supply of the SERVOPACK.
VOLTAGE - Low voltage of the primary Confirm that the power supply voltage is
4308 DROP power supply 170V or more.
(CONVERTER) - Open phase If the error occurs again, replace the servo
- Defective converter control circuit board, servo control circuit
- Defective servo control board, and/or converter.
circuit board
Reset the alarm, and then perform the
DEFECTIVE
home positioning again. Turn the power
ENCODER Serial encoder internal parameter
4309 OFF then back ON.
INTERNAL error occurred.
If the error occurs again, replace the motor
DATA
of the corresponding axis.
Review the load condition and ambient
operating temperature.
The temperature of the encoder
ENCODER Confirm that the primary power supply
4310 exceeded 100 °C.
OVERHEAT voltage is 200V + 10%.
Encoder thermister failure
If the error occurs again, replace the servo
control circuit board or the motor.
Reset the alarm, and then perform the
Encoder resetting (initialization)
home positioning again. Confirm that the
ENCODER not completed
encoder backup battery voltage is 2.8V or
4311 BACK-UP The position data in the encoder
more.
ERROR was lost due to the voltage drop
If the error occurs again, replace the
of encoder backup battery.
encoder (motor).
Encoder backup battery voltage
is too low. Confirm that the encoder backup battery
ENCODER BAT-
4312 The voltage of the encoder voltage is 2.8V or more. If not, replace the
TERY ERROR
backup battery is below 2.8V. battery.
The position data may be lost.

Alarm list
Alarm series 4000
Alarm Sub
number code
Review the load condition and ambient
operating temperature.
SERIAL The temperature of the encoder
Confirm that the primary power supply
4313 ENCODER exceeded 100 °C.
voltage is 200V + 10%.
OVER HEAT Encoder thermister failure
control circuit board or the motor.
Encoder backup battery voltage
SERIAL
is too low. Confirm that the encoder backup battery
ENCODER
4314 The voltage of the encoder voltage is 2.8V or more. If not, replace the
BATTERY
backup battery is below 2.8V. battery.
ERROR
The position data may be lost.
A collision was detected because
of the interference between the
object or move the manipulator back to a
COLLISION manipulator and a peripheral
4315 safe position. If the alarm cannot be reset,
DETECT device.
invalidate the collision detection level set-
The external force applied to the
ting file or set the detection level higher.
robot exceeded the threshold.
The pressure set in the gun pres-
Reset the pressure value in the gun pres-
PRESSURE sure file or dry spotting pressure
4316 sure file or dry spotting pressure file below
DATA LIMIT file exceeded the maximum pres-
the maximum pressure value.
sure set in the gun condition file.
PRE-LOAD The motor does not operate in
4317 Adjust the gun opening.
ERROR the pre-load process.
SERIAL
The speed feedback value of the Turn the power OFF then back ON.
ENCODER
4318 serial encoder exceeded the If the error occurs again, contact your
CORRECT LIMI-
allowable limit. MOTOMAN representative.
TATION OVER
The motor torque continuously
exceeded the rated torque for a
certain period due to:
- Motor cable disconnection Check the motor, board, manipulator
OVER LOAD
4320 - Incorrect motor type motion (influence by external force), and
(CONTINUE)
- Motor failure taught orientation.
- Defective board
- External force applied to manip-
ulator, etc.
The torque a several times as
much as the rated torque has
been applied to the motor due to:
- Motor cable disconnection Check the motor, board, manipulator
OVER LOAD
4321 - Incorrect motor type motion (influence by external force), and
(INSTANT)
- Motor failure taught orientation.
- Defective board
ulator, etc.
Check the wiring and connection for the
The current a several times as
AMPLIFIER motor power line, board, cable disconnec-
much as the rated current has
4322 OVER LOAD tion, motor type, manipulator interfer-
continuously flown in the ampli-
(CONTINUE) ences, SERVOPACK, and board, etc.
fier for a certain period.
Replace if necessary.
The torque a several times as Check the wiring and connection for the
AMPLIFIER
much as the motor rated torque motor power line, motor type, manipulator
4323 OVER LOAD
has continuously been applied for interference, SERVOPACK, and circuit
(INSTANT)
a certain period. boards. Replace if necessary.

Alarm list
Alarm series 4000
Alarm Sub
number code
The total load value of all the
Review the manipulator operating condi-
CONVERTER motors connected to the con-
4324 tion such as reducing the teaching speed,
OVER LOAD verter exceeded the converter
etc.
rating.
The speed exceeded the limit
due to:
- Motor cable disconnection
Check the motor, board, manipulator
- Incorrect motor type
4326 SPEED ERROR motion (influence by external force), and
- Motor failure
taught orientation.
- Defective board
ulator, etc.
While the motor is accelerating,
the direction of the torque and the
MOTOR ROTA- Check the wiring and connection for the
4327 speed was detected as being the
TION ERROR encoder and the motor power line.
opposite of what it was supposed
to be.
Check the manipulator interferences and
The axis deviated from the speci- motor power line.
SERVO TRACK-
4328 fied position and motion path If the error occurs again, replace the servo
ING ERROR
beyond the allowable range. control circuit board, and/or the amplifier
or motor of the corresponding axis.
The number of pulses generated
Check for the external noise.
by one motor rotation does not
Provide noise protection such as installing
agree with the specified value
POSITION a ferrite core if required.
4329 due to:
ERROR If the error occurs again, replace the servo
control circuit board, external axis servo
- Defective board
control circuit board, and/or motor.
- Motor failure
SPEED MONI-
TORING
The read speed monitoring level Check the connection cables for speed
4330 INSTRUCTION
signal is disconnected. monitoring unit.
CABLE DIS-
CONNECTION
The number of pulses generated
Check for the external noise.
by one motor rotation does not
POSITION Provide noise protection such as installing
agree with the specified value
ERROR a ferrite core if required.
4332 due to:
(SERIAL If the error occurs again, replace the servo
ENCODER) control circuit board, external servo control
- Defective board
circuit board, and/or motor.
- Motor failure
Check the primary power supply voltage.
The DC voltage supplied to the
Reduce the teaching speed and check if
amplifier exceeded 420V due to:
OVER VOLT- the error occurs. If the error does not occur
- Overloaded
4334 AGE (CON- with the reduced speed, review the load
- Converter failure
VERTER) condition.
board
control circuit board and/or the converter.
Ground fault of the motor power
line occurred due to:
- Motor failure Check the motion connection.
- Ground fault of motor line or Remove the motor connector to check the
GROUND
4335 lead cables conduction. If there is conduction, replace
FAULT
- Defective servo control circuit the lead cable; if there is no conduc-
board tion,replace the servo control circuit board.
- Defective SERVOPACK
- Defective CONVERTER

Alarm list
Alarm series 4000
Alarm Sub
number code
The SERVOPACK primary power
supply is open-phase due to:
Correct the SERVOPACK primary power
- Misconnection of primary power
supply connection,
supply
OPEN PHASE Confirm that the power supply voltage is
4336 - Lowered primary power supply
(Converter) more than 170V.
voltage
board
- Defective converter
Check the motion connection.
Ground fault of the motor power Remove the motor connector to check the
line occurred due to: conduction. If there is conduction, replace
- Motor failure the lead cable; if there is no conduction,
OVER
- Ground fault of motor line or replace the servo control circuit board.
4337 CURRENT
lead cables If no fault is found, turn OFF the power
(AMPLIFIER)
- Defective servo control circuit supply to cool down the motor. If this natu-
board ral cooling solves the problem, the load
- Defective amplifier condition and ambient operating tempera-
ture must be reviewed and corrected.
The regenerative energy at motor
Review the load condition and teaching
deceleration is too large.
speed.
REGENERA- - The primary power supply volt-
Confirm that the power supply voltage is
4338 TION ERROR age is too high (above 242V)
220V ±10%.
(CONVERTER) - Converter failure
board
INPUT POWER
The SERVOPACK primary power 220V ±10%.
4339 OVER VOLT-
supply voltage exceeded 242V. If the error occurs again, replace the servo
AGE (CONV)
control circuit board or the converter.
TEMPERA-
SERVOPACK(converter) over- 220V ±10%.
4340 TURE ERROR
heat If the error occurs again, replace the servo
(CONVERTER)
control circuit board or the converter.
The deviation of X, Y, and Z-axis
LINEAR SERVO
exceeded the allowable limit
4344 FLOAT TRACK- Check the job.
while the linear servo float was in
ING ERROR
execution.
The link servo float can not be
LINK SERVO
4345 executed while the linear servo Check the job.
FLOAT ERROR
float is in execution.
LINK SERVO
The limit torque of the link servo
FLOAT LIMITA- Set the limit torque of the link servo float
4346 float condition file is outside the
TION TORQUE condition file again.
specified range.
RANGE ERROR
LINEAR SERVO
The limit torque of the linear
FLOAT LIMITA- Set the limit torque of the linear servo float
4347 servo float condition file is outside
TION TORQUE condition file again.
the specified range.
RANGE ERROR
While the linear servo float was in
LINEAR SERVO
execution, another request of lin-
FLOAT COOR-
4348 ear servo float execution was Check the job.
DINATES TYPE
sent with a different coordinates
UNMATCH
specified.

Alarm list
Alarm series 4000
Alarm Sub
number code
LINEAR SERVO
FLOAT TOOL Reset the alarm, and then try again.
POSE CON- Turn the power OFF then back ON.
4349 designation for tool orientation
TROL SPECIFI- If the error occurs again, contact your
control of the linear servo float.
CATION MOTOMAN representative.
ERROR
LINEAR SERVO While the servo float was in exe-
4350 FLOAT EXECU- cution, the linear servo float can Check the job.
TION ERROR not be executed.
The driving belt may be discon-
BELT DISCON-
nected because the torque
4351 NECTION Check the belt, and replace it if necessary.
decreased below the normal
DETECTION
value.
The deviation of the position error
TWIN DRIVE
pulse from the twin drive axis
4352 OVER Check the load.
exceeded the allowable limit with
DEVIATION
twin drive function.
Endless motion impossible
DEFECTIVE The feedback pulse value
4353 TAUGHT POINT exceeded the maximum value Reset the alarm.
(ENDLESS) (maximum number of pulses ±
536870912)
FILE NO. The collision detection file for
Do not use the collision detection file for
ERROR exclusive use for the SVSPOT is
4354 exclusive use for the SVSPOT with the
(SHOCK used with the SHCKSET instruc-
SHCKSET instruction.
LEVEL) tion.
EXTERNAL An external force above the
4355 PRES DETECT threshold was detected on the Check the job.
(SERVOFLOAT) servo-float executing axis.
ARM CTRL The search of motor-gun equaliz-
PARAMETER ing function cannot be executed If the error occurs again, contact your
4356
ERR because no observer (including MOTOMAN representative.
(OBSERVER) collision detection) is specified.
IMPOSSIBLE The manipulator orientation at the
SRCH execution of search of the motor-
4357 Check the job.
(EQUALIZE gun equalizing function is the ori-
TEACH) entation for the singular point.
The pressuring instruction was Do not execute the pressuring instruction
DUPLICATE
4358 executed with manual pressuriza- with manual pressurization during pressur-
PRESS ERROR
tion during pressuring. ing.
Turn the power OFF then back ON. If the
CONVERTER An error occurred in the con-
4359 error occurs again, replace the servo con-
ERROR verter.
trol circuit board or the converter.
WAFER ALIGN-
4360 MENT ERROR Check the connection of prealigner.
tions with the prealigner.
(SERVO)
The arithmetic process for motion
control did not complete within
NOT READY Turn the power OFF then back ON.
4400 1 regulated time.
(ARITH) If the error occurs again, contact your
No motion command was pre-
pared.
4400 2 regulated time.
The arithmetic processing section
is not ready for JOG operation.

Alarm list
Alarm series 4000
Alarm Sub
number code
control did not complete within Reset the alarm, and then try again.
NOT READY regulated time. Turn the power OFF then back ON.
4400 3
(ARITH) The arithmetic processing section If the error occurs again, contact your
is not ready for the playback MOTOMAN representative.
operation.
control did not complete within Reset the alarm, and then try again.
NOT READY regulated time. Turn the power OFF then back ON.
4400 4
(ARITH) The prereading processing in the If the error occurs again, contact your
arithmetic processing section has MOTOMAN representative.
not completed.
regulated time.
4400 5 The arithmetic processing section
is not ready for the timer follow-
up of the conveyor tracking func-
tion.
regulated time.
4400 6 The prereading processing in the
arithmetic processing section has
not completed when specifying
the target position.
An error occurred in job execu-
SEQUENCE tion process.
4401 1 TASK CON- Unused A_BANK does not exist
TROL ERROR in the prereading processing of
move instruction.
4401 2 TASK CON- Unused bank priority does not
TROL ERROR exist in the prereading process-
ing of move instruction.
SEQUENCE An error occurred in job execu-
4401 5 TASK CON- tion process.
TROL ERROR A_BANK pointer is not set.
An error occurred in job execu- Reset the alarm, and then try again.
SEQUENCE
tion process. Turn the power OFF then back ON.
4401 6 TASK CON-
A_BANK conversion could not be If the error occurs again, contact your
TROL ERROR
performed. MOTOMAN representative.
SEQUENCE
4401 7 TASK CON-
The specified A_BANK number If the error occurs again, contact your
TROL ERROR
does not exist. MOTOMAN representative.
SEQUENCE
4401 20 TASK CON-
An error occurred when system If the error occurs again, contact your
TROL ERROR
number (MSS) was obtained. MOTOMAN representative.
SEQUENCE
4401 21 TASK CON-
An error occurred in RMS960 If the error occurs again, contact your
TROL ERROR
system call. MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
SEQUENCE
4401 22 TASK CON-
Undefined interrupt command If the error occurs again, contact your
TROL ERROR
was received. MOTOMAN representative.
TROL ERROR Job start condition is not defined.
SEQUENCE
4401 24 TASK CON-
An error occurred in instruction If the error occurs again, contact your
TROL ERROR
prefetch queue operation. MOTOMAN representative.
TROL ERROR Intermediate code is not defined.
SEQUENCE
4401 29 TASK CON-
Instruction prereading processing If the error occurs again, contact your
TROL ERROR
has not been completed normally. MOTOMAN representative.
SEQUENCE
4401 30 TASK CON-
An error occurred in job data If the error occurs again, contact your
TROL ERROR
change. MOTOMAN representative.
SEQUENCE
4401 31 TASK CON-
The specified sequence number If the error occurs again, contact your
TROL ERROR
at job execution start is incorrect. MOTOMAN representative.
SEQUENCE
4401 32 TASK CON-
The added area for interruption If the error occurs again, contact your
TROL ERROR
command is incorrect. MOTOMAN representative.
SEQUENCE
4401 33 TASK CON-
System number (MSS) for inter- If the error occurs again, contact your
TROL ERROR
ruption command is incorrect. MOTOMAN representative.
SEQUENCE
4401 38 TASK CON-
An error occurred at start of twin If the error occurs again, contact your
TROL ERROR
synchronous operation. MOTOMAN representative.
SEQUENCE
4401 39 TASK CON-
An error occurred when SYNC If the error occurs again, contact your
TROL ERROR
specification was reset. MOTOMAN representative.
SEQUENCE
4401 41 TASK CON-
An error occurred in occupation If the error occurs again, contact your
TROL ERROR
control group setting in MOTION. MOTOMAN representative.
SEQUENCE
4401 45 TASK CON-
An error occurred in path/trace If the error occurs again, contact your
TROL ERROR

Alarm list
Alarm series 4000
Alarm Sub
number code
4401 47 TASK CON- An error occurred when waiting
TROL ERROR for a completion of main system
task (job) in SYNC specification.
tion process. Reset the alarm, and then try again.
SEQUENCE
An attempt was made to execute Turn the power OFF then back ON.
4401 48 TASK CON-
an instruction that could not be If the error occurs again, contact your
TROL ERROR
executed at line sequence execu- MOTOMAN representative.
tion.
SEQUENCE
An exceptional error occurred in Turn the power OFF then back ON.
4401 80 TASK CON-
job execution process. If the error occurs again, contact your
TROL ERROR
4401 100 TASK CON- Main processing command is
TROL ERROR incorrect in prereading process-
ing.
4401 101 TASK CON- Subprocessing command is
TROL ERROR incorrect in prereading process-
ing.
SEQUENCE
4401 102 TASK CON-
Prereading processing has not If the error occurs again, contact your
TROL ERROR
been completed at job execution. MOTOMAN representative.
SEQUENCE
4401 103 TASK CON-
A_BANK conversion has not If the error occurs again, contact your
TROL ERROR
been completed. MOTOMAN representative.
SEQUENCE
4401 104 TASK CON-
System number (MSS) is incor- If the error occurs again, contact your
TROL ERROR
rect in prereading processing. MOTOMAN representative.
4401 105 TASK CON- An error occurred in instruction
TROL ERROR prefetch queue operation in pre-
reading processing.
SEQUENCE
4401 106 TASK CON-
An error occurred at IES switch- If the error occurs again, contact your
TROL ERROR
ing in prereading processing. MOTOMAN representative.
UNDEFINED Reset the alarm, and then try again.
An undefined command was
4402 COMMAND If the error occurs again, contact your
issued to the path control section.
An error occurred in the arithme-
tic process for coordinates.
The S-arm and L-arm of a scalar Change the positions so that two arms are
ARITHMETIC
type manipulator are aligned in a not aligned in a straight line.
4404 1 ERROR
straight line. Interpolation such Change the step (move instruction), where
(MOTION)
as linear and circular interpola- the alarm occurred, to MOVJ.
tion is impossible in such orienta-
tion.

Alarm list
Alarm series 4000
Alarm Sub
number code
ARITHMETIC When a vertically-articulated
Change the position in the step (move
4404 2 ERROR manipulator was moved by a spe-
instruction) where the alarm occurred.
(MOTION) cial linear interpolation, the R-
axis angle could not correctly be
calculated.
ARITHMETIC When a vertically-articulated
4404 3 ERROR manipulator was moved by a spe-
(MOTION) cial linear interpolation, the L-axis
angle could not correctly be cal-
culated.
The L-arm and U-arm of a verti- Change the positions so that two arms are
ARITHMETIC
cally-articulated manipulator are not aligned in a straight line.
4404 4 ERROR
aligned in a straight line. Interpo- Change the step (move instruction), where
(MOTION)
lation such as linear and circular the alarm occurred, to MOVJ.
interpolation is impossible in such
orientation.
The L-arm and U-arm of a verti- Change the positions so that two arms are
ARITHMETIC
cally-articulated manipulator are not aligned in a straight line.
4404 6 ERROR
aligned in a straight line. Interpo- Change the step (move instruction), where
(MOTION)
lation such as linear and circular the alarm occurred, to MOVJ.
interpolation is impossible in such
orientation.
Perform the teaching again so that the
An error occurred in the arithme- TCP of the manipulator is always within
ARITHMETIC
tic process for coordinates. the working envelope.
4404 7 ERROR
The TCP of the manipulator is out Change the shift value so that the TCP of
(MOTION)
of working envelope. the manipulator is always within the work-
ing envelope.
ARITHMETIC tic process for coordinates.
Change the step (move instruction), where
4404 8 ERROR Interpolation such as linear and
the alarm occurred, to MOVJ.
(MOTION) circular interpolation cannot be
performed with this manipulator.
ARITHMETIC
4404 9 ERROR Correct the taught point.
Specified motion cannot be per-
(MOTION)
formed with this manipulator.
A parameter error occurred in the Reset the alarm, and turn the power OFF
SELECT
path control section. then back ON.
4405 1 ERROR
Selection error of motion system If the error occurs again, contact your
(PARAMETER)
parameter MOTOMAN representative.
An internal control error occurred
GROUP AXIS Reset the alarm, and then try again.
in a coordinated motion.
4406 1 CONTROL If the error occurs again, contact your
Designation error for master and
slave
GROUP AXIS An internal control error occurred Reset the alarm, and then try again.
4406 2 CONTROL in a coordinated motion. If the error occurs again, contact your
ERROR Slave designation error MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
ERROR Slave interpolation error MOTOMAN representative.
ERROR No designation of master axis MOTOMAN representative.
ERROR No designation of slave axis MOTOMAN representative.
Master-axis designation error for
JOG motion
Slave-axis designation error for
JOG motion
ERROR Occupation control error MOTOMAN representative.
Designation error of occupation
control for JOG motion
control for Bank position
control group for tracking motion
No master and slave designated
for tracking motion
Among three taught points in a
TWO STEPS
circular interpolation step, two or
4407 SAME POSI- Teach the different 3 points again.
three points are on the same
TION (CIRC)
point.
Among three taught points in a
TWO STEPS
spline interpolation step, two or
4408 SAME POSI- Teach the different 3 points again.
TION (SPLINE)
point.
TWO STEPS Among three taught points to cre-
SAME POSI- ate an user coordinate system,
4409 Teach the different 3 points again.
TION (3 two or three points are on the
POINTS) same point.
Among three taught points (start,
TWO STEPS end, and reference points) to cre-
4410 SAME POSI- ate a weaving coordinate system, Teach the different 3 points again.
TION (WEAV) two or three points are on the
same point.

Alarm list
Alarm series 4000
Alarm Sub
number code
The spline interpolation could not
correctly be performed.
TEACH ERROR Teach the positions so that the distance
4411 The distance between the teach-
(SPLINE) between the teaching points is even.
ing points in the spline interpola-
tion section is not equidistant.
Interpolation motion could not be
performed because of different
form of L- and U-axes. Perform the teaching again to make the
IMPOSSIBLE
In case the form (folded direction) form of L- and U-axes same at start point
4412 LINEAR
of L- and U-axes at start point and end point.
MOTION (L/U)
and end point are different except Use a MOVJ instruction.
for MOVJ instructions, the manip-
ulator cannot move.
Interpolation motion could not be
performed because of different
form of S- and L-axes. Perform the teaching again to make the
IMPOSSIBLE
In case the form (folded direction) form of S- and L-axes same at start point
4413 LINEAR
of S- and L-axes at start point and end point.
MOTION (S/L)
and end point are different except Use a MOVJ instruction.
for MOVJ instructions, the manip-
ulator cannot move.
Reduce the speed in the step (move
EXCESSIVE instruction) where the alarm occurred.
The manipulator motion speed
4414 SEGMENT The manipulator may be near the singular
exceeded the limit (LOW level).
(LOW SPEED) point. Change the position and orientation
of the manipulator.
Reduce the speed in the step (move
EXCESSIVE instruction) where the alarm occurred.
4415 SEGMENT The manipulator may be near the singular
exceeded the limit (HIGH level).
(HIGH SPEED) point. Change the position and orientation
of the manipulator.
The manipulator exceeded its Change the manipulator position in the
PULSE LIMIT
4416 motion limit (pulse limit) in the step (move instruction) where the alarm
(MIN.)
negative (−) direction. occurred.
The manipulator exceeded its Change the manipulator position in the
PULSE LIMIT
4417 motion limit (pulse limit) in the step (move instruction) where the alarm
(MAX.)
positive (+) direction. occurred.
The manipulator TCP exceeded
CUBE LIMIT Change the position in the step (move
4418 its motion limit (cube limit) in the
(MIN.) instruction) where the alarm occurred.
negative (−) direction.
The manipulator TCP exceeded
CUBE LIMIT Change the position in the step (move
4419 its motion limit (cube limit) in the
(MAX.) instruction) where the alarm occurred.
positive (+) direction.
SPECIAL The manipulator exceeded its
4420 SOFTLIMIT motion limit (special software
(MIN.) limit) in the negative (−) direction.
4421 SOFTLIMIT motion limit (special software
(MAX.) limit) in the positive (+) direction.
MECHANICAL The manipulator exceeded its
4422 INTERFER- minimum-angle motion limit.
ENCE (MIN.) (Mechanical interference)
MECHANICAL The manipulator exceeded its
4423 INTERFER- maximum-angle motion limit.
ENCE (MAX.) (Mechanical interference)

Alarm list
Alarm series 4000
Alarm Sub
number code
4424 MECHANICAL minimum-angle motion limit.
INTRF (MIN.) (Special mechanical interference)
4425 MECHANICAL maximum-angle motion limit.
INTRF (MAX.) (Special mechanical interference)
PULSE The manipulator exceeded its
4426 MECHANICAL motion limit (mechanical limit) in
LIMIT (MIN.) the negative (−) direction.
PULSE The manipulator exceeded its
4427 MECHANICAL motion limit (mechanical limit) in
LIMIT (MAX.) the positive (+) direction.
An error occurred in the real-time
SEGMENT processing section that controls
4428 1 CONTROL the arithmetic section.
ERROR <System error>
RT-buffer control command error
processing section that controls Reset the alarm, and then try again.
SEGMENT
the calculation section. Turn the power OFF then back ON.
4428 2 CONTROL
<System error> If the error occurs again, contact your
ERROR
Segment-receiving control com- MOTOMAN representative.
mand error
4428 3 CONTROL the calculation section.
No bank priority
Answer error at MOVE simulating
processing section that controls
SEGMENT the calculation section.
4428 5 CONTROL <System error>
ERROR The value of
bank_refresh_flag(x) exceeded
its limit.
Bank refreshing timing error
RT-buffer setting timing error
RT-buffer tracking option error

Alarm list
Alarm series 4000
Alarm Sub
number code
processing section that controls
SEGMENT the calculation section.
4428 9 CONTROL <System error>
ERROR The segment was received
although the previous segment
had not been sent.
An error occurred in the manipu- Reset the alarm, and then try again.
WRONG SPEC-
lator information at job execution. Turn the power OFF then back ON.
4429 1 IFIED CON-
TROL GROUP
Control group not designated MOTOMAN representative.
WRONG SPEC-
4429 2 IFIED CON-
<Systm error> If the error occurs again, contact your
TROL GROUP
Slave control-group error MOTOMAN representative.
WRONG SPEC-
4429 3 IFIED CON-
TROL GROUP
Master control-group error MOTOMAN representative.
An error occurred in the manipu-
WRONG SPEC- lator information at job execution.
4429 4 IFIED CON- <System error>
TROL GROUP Master and Slave control-group
error
WRONG SPEC-
4429 5 IFIED CON-
TROL GROUP
Control-group error for a job file MOTOMAN representative.
TROL GROUP Control-group error for a user
coordinate file
TROL GROUP Control-group error for a calibra-
tion file between manipulators
TROL GROUP Control-group error for a tool cali-
bration file
TROL GROUP Control-group error for a refer-
ence point
lator information at job execution. Reset the alarm, and then try again.
WRONG SPEC-
<System error> Turn the power OFF then back ON.
4429 10 IFIED CON-
Control-group error for preread- If the error occurs again, contact your
TROL GROUP
ing-calculation start point (for MOTOMAN representative.
adv_st_pos)

Alarm list
Alarm series 4000
Alarm Sub
number code
TROL GROUP Control-group error for the cur-
rent-value preset position
WRONG SPEC-
4429 12 IFIED CON-
Control-group error for the con- If the error occurs again, contact your
TROL GROUP
veyor prereading-calculation start MOTOMAN representative.
point
WRONG SPEC-
4429 13 IFIED CON-
TROL GROUP
Occupation control-group error MOTOMAN representative.
TROL GROUP Control-group error for multi-layer
sampling
TROL GROUP Control-group error for servo
hand
WRONG SPEC-
4429 16 IFIED CON-
TROL GROUP
MRESET control-group error MOTOMAN representative.
WRONG SPEC-
4429 17 IFIED CON-
Control-group error for general- If the error occurs again, contact your
TROL GROUP
purpose area of path correction MOTOMAN representative.
amount
TROL GROUP Control-group error for a con-
veyor calibration file
WRONG SPEC-
4429 19 IFIED CON-
Control-group error for the pre- If the error occurs again, contact your
TROL GROUP
reading-calculation start point (for MOTOMAN representative.
dm_st_pos)
An error occurred in interrupt
process between CPUs. Reset the alarm, and then try again.
CPU COMMU-
4430 1 NICATION
Interrupt processing error If the error occurs again, contact your
ERROR
between MOTION and system MOTOMAN representative.
control section
CPU COMMU- process between CPUs.
4430 2 NICATION <System error>
ERROR Interrupt processing error
between MOTION and SL#1

Alarm list
Alarm series 4000
Alarm Sub
number code
between MOTION and CV#1
between MOTION and CV#2
between MOTION and PS#1
between MOTION and PS#2
Data error occurred in job control
process.
4431 1 JHM ERROR An error occurred in JMS system
call when an attempt was made
to open a job.
process.
4431 2 JHM ERROR No space was found in job handle
value storage area when an
attempt was made to open a job.
4431 3 JHM ERROR process.
No job handle was found.
Data error occurred in job control Reset the alarm, and then try again.
process. Turn the power OFF then back ON.
4431 4 JHM ERROR
Job control proprietary is incor- If the error occurs again, contact your
rect. MOTOMAN representative.
4431 5 JHM ERROR
Job control proprietary could not If the error occurs again, contact your
be changed. MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
4431 6 JHM ERROR
Reset the alarm, reselect the job, and then
try again.
An error occurred in instruction Delete the instruction where an alarm
INSTRUCTION interpretation/execution process. occurred, and then reregister and execute
4432 1 INTERPRETER The intermediate code of the the instruction.
ERROR instruction that is to be executed Delete the job where an alarm occurred,
is incorrect. and then reregister and execute the job.
try again.
Delete the instruction where an alarm
An error occurred in instruction
INSTRUCTION occurred, and then reregister and execute
interpretation/execution process.
4432 3 INTERPRETER the instruction.
Destination (variable) tag
ERROR Delete the job where an alarm occurred,
arrangement is incorrect.
and then reregister and execute the job.
try again.
INSTRUCTION An error occurred in instruction occurred, and then reregister and execute
4432 4 INTERPRETER interpretation/execution process. the instruction.
ERROR Tag data type is incorrect. Delete the job where an alarm occurred,
try again.
ERROR Box number is incorrect. Delete the job where an alarm occurred,
try again.
4432 6 INTERPRETER An error occurred in block sepa- the instruction.
ERROR ration processing of intermediate Delete the job where an alarm occurred,
code. and then reregister and execute the job.
try again.
Box number definition is dupli-
cated.

Alarm list
Alarm series 4000
Alarm Sub
number code
try again.
4432 9 INTERPRETER Undefined instruction was found the instruction.
ERROR at block separation of intermedi- Delete the job where an alarm occurred,
ate code. and then reregister and execute the job.
try again.
ERROR IPRM is not set. Delete the job where an alarm occurred,
try again.
An error occurred in tag data
search process.
try again.
An error occurred move instruc-
tion search process.
try again.
An error occurred reference point
search process.
try again.
Variable information does not
exist.

Alarm list
Alarm series 4000
Alarm Sub
number code
try again.
An error occurred at position file
data reading.
try again.
ERROR Variable data type is not defined. Delete the job where an alarm occurred,
try again.
4432 18 INTERPRETER An instruction is included with the instruction.
ERROR incorrect intermediate code in Delete the job where an alarm occurred,
expression instruction. and then reregister and execute the job.
try again.
The syntax in expression instruc-
tion is incorrect.
try again.
The tag data length is zero when
tag data is read.
try again.
ERROR The necessary tag data is not set. Delete the job where an alarm occurred,

Alarm list
Alarm series 4000
Alarm Sub
number code
try again.
The object to be processed was
secret variable in position file
control process, so it could not be
processed.
try again.
The object to be processed was
position type variable in position
file control process, so it could
not be processed.
try again.
4432 24 INTERPRETER Job argument settings do not the instruction.
ERROR match when a variable is given Delete the job where an alarm occurred,
and/or taken between jobs. and then reregister and execute the job.
try again.
4432 25 INTERPRETER An attempt was made to perform the instruction.
ERROR undefined operation at four-rule Delete the job where an alarm occurred,
operation instruction. and then reregister and execute the job.
try again.
Arithmetic stack used for expres-
sion operation exceeded.
try again.
Arithmetic stack used for expres-
sion operation is empty.

Alarm list
Alarm series 4000
Alarm Sub
number code
try again.
Operation items are lacking in
expression operation and opera-
tion processing cannot be per-
formed.
try again.
Access mechanism for old
parameters is used.
try again.
ERROR An exceptional error occurred. Delete the job where an alarm occurred,
The global variable is not defined.
UNDEFINED
The set data for byte type varia- Needs investigation. Contact your MOTO-
4433 0 GLOBAL
ble (S1D parameter) area is MAN representative.
VARIABLE
incorrect.
UNDEFINED
The set data for integer type vari- Needs investigation. Contact your MOTO-
4433 1 GLOBAL
able (S1D parameter) area is MAN representative.
VARIABLE
incorrect.
UNDEFINED
The set data for double-precision Needs investigation. Contact your MOTO-
4433 2 GLOBAL
integer-type variable (S1D MAN representative.
VARIABLE
parameter) area is incorrect.
UNDEFINED
The set data for real type variable Needs investigation. Contact your MOTO-
4433 3 GLOBAL
(S1D parameter) area is incor- MAN representative.
VARIABLE
rect.
UNDEFINED
The set data for character-string Needs investigation. Contact your MOTO-
4433 4 GLOBAL
type variable (S1D parameter) MAN representative.
VARIABLE
area is incorrect.
UNDEFINED
The set data for robot-axis posi- Needs investigation. Contact your MOTO-
4433 5 GLOBAL
tion-type variable (S1D parame- MAN representative.
VARIABLE
ter) area is incorrect.
UNDEFINED
The set data for base-axis posi- Needs investigation. Contact your MOTO-
4433 6 GLOBAL
VARIABLE

Alarm list
Alarm series 4000
Alarm Sub
number code
UNDEFINED
The set data for station-axis posi- Needs investigation. Contact your MOTO-
4433 7 GLOBAL
VARIABLE
UNDEFINED The local variable is not defined.
Set the number of local variables to be
4435 0 LOCAL The byte type variable is not
used in the job header.
VARIABLE defined.
4435 1 LOCAL The integer type variable is not
VARIABLE defined.
4435 2 LOCAL The double-precision integer-
VARIABLE type variable is not defined.
4435 3 LOCAL The real-number type variable is
VARIABLE not defined.
4435 4 LOCAL The character-string type variable
VARIABLE is not defined.
4435 5 LOCAL The robot-axis position-type vari-
VARIABLE able is not defined.
4435 6 LOCAL The base-axis position-type vari-
VARIABLE able is not defined.
4435 7 LOCAL The station-axis position-type
VARIABLE variable is not defined.
An error occurred in circular inter-
LESS THAN 3 polation instruction execution. Reset the alarm, and then perform teach-
4436 STEP There is no continuous three ing so that circulation interpolation steps
(CIRCULAR) points or more for circular inter- are continuous three points or more.
polation step.
An error occurred in spline inter-
polation instruction execution. Reset the alarm, and then perform teach-
LESS THAN 3
4437 There is no continuous three ing so that spline interpolation steps are
STEP (SPLINE)
points or more for spline interpo- continuous three points or more.
lation step.
Reset the alarm, and then register the job.
UNDEFINED The job to be executed is not reg-
4438 Delete the CALL/JUMP instruction where
JOB istered in the memory.
an alarm occurred.
An error occurred in label jump Reset the alarm, and then register the
UNDEFINED execution. label.
4439
LAVEL The label for jump destination Delete the JUMP instruction where an
does not exist in the job. alarm occurred.
Reset the alarm, and then execute the
UNDEFINED Call source job does not exist in
4440 master (start) job.
RETURN JOB the job call stack.
Delete the RET instruction.
An error occurred when memory
area for local variable was
LACK OF
obtained. Reset the alarm, and then reduce the
4441 LOCAL VARIA-
Memory area is lacking because number of local variables to be used.
BLE AREA
too many local variables in the
job are used.

Alarm list
Alarm series 4000
Alarm Sub
number code
Reset the alarm, and then check if external
force is applied to the manipulator. If
external force is applied to the manipula-
When PL = 0 or an external servo
tor, move the manipulator by the axis oper-
turned OFF, the number of the
UNSUCCESS- ation, etc. to remove the external force.
servo error pulses did not fall in
4444 FUL FINE POSI- Then, try again.
the limit range that had been set
TIONING If the error occurs again although no exter-
in a parameter, within the speci-
nal force is applied to the manipulator, re-
fied time.
insert the system CPU board correctly.
Data error occurred at job pre- Reset the alarm, reselect the job, and then
DATA PRESET reading reinterpretation. try again.
4445 1
ERROR The token for prereading If the error occurs again, contact your
processing could not be obtained. MOTOMAN representative.
Data error occurred at job pre-
reading reinterpretation. Reset the alarm, reselect the job, and then
DATA PRESET The prereading processing has try again.
4445 2
ERROR not been completed within the If the error occurs again, contact your
time, and the waiting time for MOTOMAN representative.
completion exceeded the limit.
Data error occurred at job pre-
reading reinterpretation.
The prereading operation
DATA PRESET try again.
4445 3 processing has not been com-
ERROR If the error occurs again, contact your
pleted within the time, and the
waiting time for completion
exceeded the limit.
4445 4
ERROR An error occurred in prereading If the error occurs again, contact your
operation process. MOTOMAN representative.
4445 5
ERROR A_BANK conversion has not If the error occurs again, contact your
been completed. MOTOMAN representative.
4445 255
ERROR An exceptional error occurred in If the error occurs again, contact your
job execution process. MOTOMAN representative.
Change the variable data type for storage
OVER VARIA- The variable value exceeded the
4446 0 or correct the job, so that the variable
BLE LIMIT limit.
value is within the limit.
The value for the binary (0/1) Change the variable data type for storage
OVER VARIA-
4446 1 data type variable exceeded the or correct the job, so that the variable
BLE LIMIT
limit. value is within the limit.
The value for the signed 1-byte Change the variable data type for storage
OVER VARIA-
4446 2 data type variable is less than the or correct the job, so that the variable
BLE LIMIT
minimum value. value is within the limit.
OVER VARIA-
BLE LIMIT
OVER VARIA-
BLE LIMIT

Alarm list
Alarm series 4000
Alarm Sub
number code
The value for the real-number 4- Change the variable data type for storage
OVER VARIA-
4446 8 byte data type variable is less or correct the job, so that the variable
BLE LIMIT
than the minimum value. value is within the limit.
3277 OVER VARIA-
4446 data type variable exceeded the or correct the job, so that the variable
0 BLE LIMIT
maximum value. value is within the limit.
The value for the unsigned 1-byte Change the variable data type for storage
3277 OVER VARIA-
1 BLE LIMIT
3277 OVER VARIA-
2 BLE LIMIT
3277 OVER VARIA-
3 BLE LIMIT
3277 OVER VARIA-
4 BLE LIMIT
3277 OVER VARIA-
5 BLE LIMIT
The value for the real-number 4- Change the variable data type for storage
3277 OVER VARIA-
4446 byte data type variable exceeded or correct the job, so that the variable
6 BLE LIMIT
the maximum value. value is within the limit.
The value for the label-name type Change the variable data type for storage
3278 OVER VARIA-
4446 variable exceeded the maximum or correct the job, so that the variable
0 BLE LIMIT
value. value is within the limit.
The value for the job-name type Change the variable data type for storage
3278 OVER VARIA-
4446 variable exceeded the maximum or correct the job, so that the variable
1 BLE LIMIT
The value for the character-string Change the variable data type for storage
3278 OVER VARIA-
4446 type variable exceeded the maxi- or correct the job, so that the variable
2 BLE LIMIT
mum value. value is within the limit.
The value for comment type vari- Change the variable data type for storage
3278 OVER VARIA-
4446 able exceeded the maximum or correct the job, so that the variable
3 BLE LIMIT
Incorrect teaching of circular
DEFECTIVE interpolation steps
Teach the 3 points again so that they do
4447 0 TAUGHT POINT The three points taught for the
not lie in a straight line.
(CIRC) circular interpolation step lie in a
straight line.
An error occurred in weaving
WEAVING CON- control.
TROL ERROR Weaving control-group designa-
tion error
control.
WEAVING CON- When the speed is specified by
4448 4 Reset the value 0.1 seconds or more.
TROL ERROR weaving time in the weaving file,
zero or the negative value is set
for the weaving time.

Alarm list
Alarm series 4000
Alarm Sub
number code
control.
WEAVING CON- When the speed is specified by
4448 5 Reset the value 0.1 Hz or more.
TROL ERROR frequency in the weaving file,
zero or the negative value is set
for the frequency.
control.
WEAVING CON-
4448 6 When the timer mode is specified Set a positive value for the timer value.
TROL ERROR
in the weaving file, a negative
value is set for the timer value.
control.
WEAVING CON- Set a positive value for the vertical and
4448 7 For triangle or L-type weaving,
TROL ERROR horizontal distance.
zero is set for the vertical or hori-
zondal distance.
control. Internal control error. If the error occurs
WEAVING CON-
4448 8 The coordinate control axis des- again, contact your MOTOMAN represent-
TROL ERROR
ignation for the reference point is ative.
different from actual control axis.
control.
WEAVING CON-
4448 9 The distance between the point P Set the correct dimensions in the tool data.
TROL ERROR
and the TCP could not be calcu-
lated in wrist weaving.
control.
WEAVING CON-
4448 10 The distance between the point P Set the correct dimensions in the tool data.
TROL ERROR
and the TCP could not be calcu-
lated in circular wrist weaving.
control.
WEAVING CON- The Y-direction element of circu- Internal control error.
4448 11
TROL ERROR lar coordinate system for circular Contact your MOTOMAN representative.
wrist weaving could not be calcu-
lated.
control.
WEAVING CON- The X-direction element of circu- Internal control error.
4448 12
TROL ERROR lar coordinate system for circular Contact your MOTOMAN representative.
wrist weaving could not be calcu-
lated.
WEAVING CON- control.
TROL ERROR Weaving basic-orientation calcu-
lation error
control. Reset the alarm, and then try again.
WEAVING CON-
4448 15 Calculation error of horizontal- If the error occurs again, contact your
TROL ERROR
and wall-direction vector for MOTOMAN representative.
weaving
UNMATCHED The storage destination data
Match the position type variable data type
4449 POSNVAR (pulse/Cartesian) is different from
for the storage source/destination.
DATA ERROR the storage source data.

Alarm list
Alarm series 4000
Alarm Sub
number code
FILE NO. An error occurred in tool file try again.
4450 1
ERROR number check. If the error occurs again, contact your
FILE NO. An error occurred in user coordi- try again.
4450 2
ERROR nate file number check. If the error occurs again, contact your
An error occurred in calibration
FILE NO. try again.
4450 3 file number check between the
manipulators.
FILE NO. An error occurred in tool calibra- try again.
4450 4
ERROR tion file number check. If the error occurs again, contact your
FILE NO. An error occurred in reference try again.
4450 5
ERROR point number check. If the error occurs again, contact your
FILE NO. An error occurred in weaving file try again.
4450 6
An error occurred in check for
FILE NO. try again.
4450 7 welding start condition file
number.
FILE NO. try again.
4450 8 welding end condition file
number.
FILE NO. An error occurred in conveyor try again.
4450 9
ERROR characteristic file number check. If the error occurs again, contact your
FILE NO. An error occurred in press char- try again.
4450 10
ERROR acteristic file number check. If the error occurs again, contact your
FILE NO. An error occurred in gun charac- try again.
4450 11
ERROR teristic file number check. If the error occurs again, contact your
FILE NO. An error occurred in conveyor try again.
4450 12
ERROR calibration file number check. If the error occurs again, contact your
FILE NO. An error occurred in argument try again.
4450 13
FILE NO. try again.
4450 14 motor gun characteristic file
number.

Alarm list
Alarm series 4000
Alarm Sub
number code
The reference point (reference
UNDEFINED point number in binary for sub-
4451 Register the reference point.
REFERENCE code) is not registered or is insuf-
ficient.
STACK MORE An attempt was made to add Reset the alarm, and then correct the job
4452 THAN 8 (JOB more than eight stacks in the job so that the number of nests for CALL
CALL) call stack. instruction is eight or less.
The variable number (the varia-
OVER VARIA- ble number which an attempt was Correct the job using the variable number
4453
BLE NO. made to use for subcode) is out within the range.
of range.
The arc welding characteristic file
UNDEFINED
cannot be accessed. Complete the settings for the arc welding
4454 WELDER CON-
The arc welding characteristic file characteristic file.
DITION FILE
is not set.
The welding start condition file
UNDEFINED
cannot be accessed. Complete the settings for the welding start
4455 ARC START
The welding start condition file is condition file.
COND FILE
not set.
The welding end condition file
UNDEFINED
cannot be accessed. Complete the settings for the welding end
4456 ARC END
The welding end condition file is condition file.
COND FILE
not set.
An error occurred in welder type
check.
WRONG
The reference unit for the welding Correct the reference unit for the welding
4457 WELDER
voltage and the welder type voltage.
SELECTION
(independent/unified) do not
match.
An error occurred in expression
EXCESSIVE operation. Separate the operation expression,
4459 INSTRUCTION The operation is impossible shorten the expression, and then register it
EQUATION because the expression is too to a job.
long.
An error occurred in operation
ZERO DEVIDED
4460 instruction. Do not divide by zero.
OCCURRENCE
Zero division occurred.
An error occurred in automatic
UNDEFINED
welding release conditions.
AUTO WELD Set the number of times of welding release
4461 The number of welding release
RELEASE condition, and then try again.
condition is zero for arc auxiliary
COND
file.
An error occurred at arc retry
UNDEFINED execution.
Set the move instruction following ARCON
4462 POSITION FOR The arc retry has been set, but no
instruction.
ARC RETRY move instruction exists following
ARCON instruction.
An error occurred in data for user
I/O group. Check the parity data of the user I/O
4463 PARITY ERROR
The parity check for user I/O group.
group detected the data error.

Alarm list
Alarm series 4000
Alarm Sub
number code
The BCD value exceeded the
limit.
An attempt was made to output a
value above the maximum value
that can be expressed in Binary
Coded Decimal: 99 (decimal)
Correct the data.
when no parity check is specified,
OVER BCD Correct the data designation (Binary or
4464 and 79 (decimal) when parity
RANGE BCD) or parity check designation (with or
check is specified.
without.)
An attempt was made to read a
data that cannot be expressed in
Binary Coded Decimal (a data
whose lower or upper 4 bits
exceeded 9 in decimal) in the
variable.
The binary data exceeded the
limit.
OVER BINARY
An attempt was made to output a Correct the data.
4465 RANGE
value that exceeded 127 (deci- Correct the parity check designation.
(PARITY)
mal) to the user I/O when parity
check was specified.
OFFLINE
An undefined command was Reset the alarm, and then try again.
UNDEFINED
4466 0 issued to the offline position-data If the error occurs again, contact your
COMMAND
preparation section. MOTOMAN representative.
(ARITH)
An error occurred at user coordi-
USER COORDI-
nate creation by a job.
NATES GENER- Be sure that the number of steps will be
4467 0 The number of steps was lacking
ATION STEP three or more.
for a job for user coordinate crea-
SHORTAGE
tion.
The calibration data between
manipulators could not correctly
ROBOT
be prepared. The calibration function between manipu-
4468 1 CALIBRATION
The calibration between manipulators cannot be used for this model.
DATA ERROR
lators cannot be executed for this
model.
ROBOT manipulators could not correctly
Set the different groups for the master
4468 2 CALIBRATION be prepared.
group and the slave group.
DATA ERROR The master group and the slave
group are set to the same group.
ROBOT manipulators could not correctly Reset the alarm, and then try again.
4468 3 CALIBRATION be prepared. If the error occurs again, contact your
DATA ERROR Incorrect designation of the con- MOTOMAN representative.
trol group for master group
ROBOT manipulators could not correctly Reset the alarm, and then try again.
4468 4 CALIBRATION be prepared. If the error occurs again, contact your
DATA ERROR Incorrect designation of the con- MOTOMAN representative.
trol group for slave group
ROBOT Reset the alarm, and then try again.
be prepared.
4468 5 CALIBRATION If the error occurs again, contact your
Incorrect designation of the occu-
DATA ERROR MOTOMAN representative.
pation control group for calibra-
tion data

Alarm list
Alarm series 4000
Alarm Sub
number code
be prepared.
Incorrect designation of the ena-
bling control group for calibration
data
ROBOT be prepared.
4468 7 CALIBRATION Among three points in the mas- Teach the different 3 points again.
DATA ERROR ter-group’s calibration data, two
or three points are on the same
point.
ROBOT be prepared.
4468 8 CALIBRATION Among three points in the slave- Teach the different 3 points again.
DATA ERROR group’s calibration data, two or
point.
ROBOT
be prepared. Teach the specified number of points for
4468 9 CALIBRATION
The number of the teaching the calibration data.
DATA ERROR
points for calibration data is insuf-
ficient.
The conversion coordinates for
calibration between manipulators
ROBOT
could not be prepared. The calibration function between manipu-
4469 1 CALIBRATION
The calibration between manipulators cannot be used for this model.
FRAME ERROR
lators cannot be executed for this
model.
ROBOT calibration between manipulators
Separate the master group and slave
4469 2 CALIBRATION could not be prepared.
group.
FRAME ERROR The master group and the slave
group are in the same group.
ROBOT calibration between manipulators Reset the alarm, and then try again.
4469 3 CALIBRATION could not be prepared. If the error occurs again, contact your
FRAME ERROR Incorrect designation of the con- MOTOMAN representative.
trol group for master group
ROBOT calibration between manipulators Reset the alarm, and then try again.
4469 4 CALIBRATION could not be prepared. If the error occurs again, contact your
FRAME ERROR Incorrect designation of the con- MOTOMAN representative.
trol group for slave group
calibration between manipulators
could not be prepared.
FRAME ERROR MOTOMAN representative.
Calibration data setting error
An error occurred at calibration
data creation between manipula-
ROBOT CALI-
tors.
4470 0 BRATION STEP Correct the number of steps for a job.
The number of steps was lacking
SHORTAGE
for a job for calibration data crea-
tion between manipulators.

Alarm list
Alarm series 4000
Alarm Sub
number code
The tool calibration data could
CALIBRATION not correctly be prepared.
4471 1 Teach the specified number of points.
DATA ERROR Incorrect number of teaching
points for tool calibration
not correctly be prepared. Reset the alarm, and then try again.
CALIBRATION
4471 2 Incorrect designation of the occu- If the error occurs again, contact your
DATA ERROR
pation control group for calibra- MOTOMAN representative.
tion data
not correctly be prepared. Reset the alarm, and then try again.
CALIBRATION
4471 3 Incorrect designation of the ena- If the error occurs again, contact your
DATA ERROR
bling control group for calibration MOTOMAN representative.
data
DATA ERROR Incorrect designation of the con-
trol group for calibration data
DATA ERROR Calibration could not be exe-
cuted.
TOOL Reset the alarm, and then try again.
not correctly be prepared.
Calibration could not be exe-
cuted.
ARITHMETIC Reset the alarm, and then try again.
The alarm occurred in the calcu-
4473 0 ALARM RESET If the error occurs again, contact your
lation section could not be reset.
The CALL/JUMP destination job Make the setting in advance so that the
could not be executed. control group of the CALL/JUMP desgina-
WRONG CON-
An attempt was made to call or tion job is included in that of the CALL/
4474 TROL GROUP
jump to a job whose control JUMP source job.
AXIS
group cannot be controlled. (Sub Use a PSTART instruction when the inde-
code: The related control-group) pendent control function is used.
An attempt was made to execute
a job without robot axis.
CANNOT EXE-
The robot axis is not designated Add the robot axis to the control-group of
4475 0 CUTE JOB
for the control-group of the job at the job.
(NO ROBOT)
execution of a work instruction
that uses a manipulator.
CANNOT EDIT An attempt was made to change
4476 0 (EDIT LOCK- the tag data for the job prohibited Release the prohibition.
JOB) from being edited.
CANNOT EDIT An attempt was made to change
4476 1 (EDIT LOCK- the speed tag data for the job Release the prohibition.
JOB) prohibited from being edited.
An attempt was made to change
CANNOT EDIT
the board thickness tag data for
4476 2 (EDIT LOCK- Release the prohibition.
the job prohibited from being
JOB)
edited.

Alarm list
Alarm series 4000
Alarm Sub
number code
Incorrect selection of application
When executing a work instruc-
tion, the application selection
SELECT
parameter (parameter exclusive Needs investigation. Contact your MOTO-
4477 ERROR (APPLI-
for manufacturer) is inconsistent MAN representative.
CATION)
with the application parameter
(AP parameter). (Subcode: Appli-
cation number)
Incorrect selection of sensor
function
When executing a work instruc-
SELECT tion, the sensor application selec-
Needs investigation. Contact your MOTO-
4480 ERROR (SEN- tion parameter (parameter
MAN representative.
SOR) exclusive for manufacturer) is
inconsistent with the sensor
parameter (SE parameter). (Sub-
code: Sensor number)
Incorrect analog output port
selection parameter
The value of the parameter
WRONG PORT
AxP010 indicating the leading
4484 NO. (ANALOG Correct the parameter value.
number of analog output port
OUTPUT)
used for arc welding or sealing
application was incorrect. (Sub-
code: Application number)
When executing a sensor instruc-
tion, the robot specified to use
WRONG
the sensor (system parameter) Needs investigation. Contact your MOTO-
4485 SELECTION
and the robot specified to use the MAN representative.
(SENSOR)
application (system parameter)
are unmatched.
When executing COM-ARC func- Remove the cause of the path-over.
4486 PASS OVER tion, the path was beyond the Set the path over radius within the allowa-
specified path-over monitor zone. ble range.
WRONG MECH An error occurred in mechanical Reset the alarm, and then try again.
4487 0 PARAMETER paramater for the path control If the error occurs again, contact your
FILE section. MOTOMAN representative.
The CUT instruction could not be
DEFECTIVE executed.
Set zero pulse for the C-and W-axis posi-
4489 1 TAUGHT POINT The C- and W-axis position at the
tion at the cutting start position.
(CUTTING) cutting start position is not zero
pulse.
DEFECTIVE The CUT instruction could not be
4489 2 TAUGHT POINT executed. Set a value bigger than 0 for the radius.
(CUTTING) Zero is set for the cutting radius.
DEFECTIVE The CUT instruction can be used for the
executed.
4489 3 TAUGHT POINT manipulator with small-circle cutting axis
The cutting machine axis is not
(CUTTING) only.
mounted.
DEFECTIVE This robot cannot perform a hexagonal
executed.
4489 4 TAUGHT POINT cutting motion.
This manipulator cannot perform
(CUTTING) Select an other cutting form.
a hexagonal cutting motion.

Alarm list
Alarm series 4000
Alarm Sub
number code
The Endless motion could not be
performed.
After the Endless rotation com- To perform an interpolation motion such as
DEFECTIVE
pleted, an attempt was made to MOVL and MOVC after an Endless rota-
4490 1 TAUGHT POINT
execute an interpolation instruction, execute an MRESET instruction
(ENDLESS)
tion such as MOVL and MOVC beforehand.
before executing an MRESET
instruction.
performed.
DEFECTIVE
The base axis is set as an End- Change the parameter setting that desig-
4490 2 TAUGHT POINT
less rotation axis. The Endless nates the Endless rotation axis.
(ENDLESS)
function cannot be used with the
base axis.
DEFECTIVE performed.
Set the parameter for designation of the
4490 3 TAUGHT POINT An attempt was made to execute
Endless rotation axis.
(ENDLESS) the Endless function although the
endless axis was not designated.
DEFECTIVE performed. Correct the rotation amount so that the
4490 4 TAUGHT POINT The Endless axis exceeded the Endless axis does not exceed the maxi-
(ENDLESS) maximum pulse value mum pulse value.
(±536870911).
An error occurred in the calcula-
tion section for the correcting
CORREC- direction at path correcting Reset the alarm, and then try again.
4491 1 TIONAL DIREC- motion. If the error occurs again, contact your
TION ERROR Control-group designation error MOTOMAN representative.
for correcting-direction prepara-
tion
CORREC- Reset the alarm, and then try again.
direction at path correcting
4491 2 TIONAL DIREC- If the error occurs again, contact your
motion.
TION ERROR MOTOMAN representative.
Designation error for the correct-
ing-direction coordinates
CORREC- direction at path correcting
Teach the correcting direction with the ref-
4491 3 TIONAL DIREC- motion.
erence point (REFP).
TION ERROR When “any direction” is set for the
correcting direction, the correc-
tion coordinates is not prepared.
CORREC-
motion. Teach the reference points (REFP) so that
4491 4 TIONAL DIREC-
When “any direction” is set for the each point is different.
TION ERROR
correcting direction, the reference
points (REFP) are taught on the
same point.

Alarm list
Alarm series 4000
Alarm Sub
number code
CORREC- direction at path correcting Reset the alarm, and then try again.
4491 5 TIONAL DIREC- motion. If the error occurs again, contact your
TION ERROR Designation error for the coordi- MOTOMAN representative.
nated motion control axis at the
reference point
motion.
Data unmatched between the
POSITION correction amount data and the Reset the alarm, and then try again.
4492 1 CORRECTION job data: If the error occurs again, contact your
ERROR The information about the control MOTOMAN representative.
groups designated for the series
of jobs, which is added to the cor-
rection amount data, does not
include the valid control-group for
the job.
motion.
POSITION Data unmatched between the Reset the alarm, and then try again.
4492 2 CORRECTION correction amount data and the If the error occurs again, contact your
ERROR job data: MOTOMAN representative.
The valid control-group infroma-
tion that is added to the correc-
tion amount data disagrees with
the valid control-group for the job.
The tool fil number exceeded the Reset the alarm, and turn the power OFF
OVER TOOL limit value. then back ON.
4493
FILE NO. The tool number for internal con- If the error occurs again, contact your
trol is 25 or more. MOTOMAN representative.
Incorrect teaching of weaving
DEFECTIVE
motion positions Change the positions so that the weaving
4494 1 TAUGHT POINT
The weaving start point and end start point and end point are different.
(WEAV)
point are on the same point.
Incorrect teaching of weaving
motion positions
DEFECTIVE Change the positions so that the weaving
Among the weaving start point,
4494 2 TAUGHT POINT start point, end point, and reference point
end point, and reference point,
(WEAV) are different.
two or three points are on the
same point.
Calibration between manipulators
has not executed.
UNDEFINED
A coordinated motion is impossi- Before using the coordinated motion, exe-
4495 ROBOT
ble because no calibration cute the calibration between manipulators.
CALIBRATION
between manipulators has been
made.
Setting error of motion control
Set a correct value.
PARAMETER parameter
ERROR The setting of the manipulator
number is incorrect.
Setting error of motion control Set a correct value.
PARAMETER
4496 2 parameter If the error occurs again, contact your
ERROR
Zero is set for the resolution. MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
PARAMETER parameter
ERROR Zero is set in the feedback pulse
parameter.
PARAMETER parameter
ERROR The setting of L-axis ball-screw
data is incorrect.
PARAMETER parameter
ERROR The setting of U-axis ball-screw
data is incorrect.
PARAMETER parameter
ERROR Zero or a negative value is set for
MAXPPS.
parameter Set a correct value.
PARAMETER
4496 7 Zero or a negative value is set for If the error occurs again, contact your
ERROR
the maximum acceleration MOTOMAN representative.
speed.
PARAMETER
ERROR
the maximum deceleration MOTOMAN representative.
speed.
PARAMETER
ERROR
the play-mode servo averating MOTOMAN representative.
time.
PARAMETER
4496 10 The setting of the manipulator If the error occurs again, contact your
ERROR
number is incorrect. An unde- MOTOMAN representative.
fined type is designated.
parameter
Set a correct coordinate system.
PARAMETER The incorrect coordinate system
ERROR is designated for the cubic inter-
ference. An undefined coordi-
nate system is set.
parameter
Set a correct number.
PARAMETER The designation of the user cood-
ERROR inates number is incorrect. A
number out of the setting range is
set.
Setting error of motion control Set a correct value for the resolution.
PARAMETER
4496 13 parameter If the error occurs again, contact your
ERROR
The reduction ratio ≤ 0 is output. MOTOMAN representative.
Set a correct value for the spring constant.
PARAMETER parameter
the spring constant.

Alarm list
Alarm series 4000
Alarm Sub
number code
Set a correct value for the motor inertia.
PARAMETER parameter
the motor inertia.
Setting error of motion control Set a correct value for the speed calcula-
PARAMETER parameter tion constant.
4496 16
ERROR Zero or a negative value is set for If the error occurs again, contact your
the speed calculation constant. MOTOMAN representative.
PARAMETER If the error occurs again, contact your
4496 17 parameter
Dividing number setting error
Correct the parameter setting.
PARAMETER parameter
ERROR The setting of allowable torque
for the speed reducer is incorrect.
PARAMETER parameter
ERROR The setting of allowable torque
for the motor is incorrect.
parameter
PARAMETER Do not use the torque acceleration/decel-
4496 20 The manipulator type is not appli-
ERROR eration with this manipulator.
cable for torque acceleration/
deceleration.
Set a correct value for the balancer.
PARAMETER parameter
the balancer.
parameter Set a correct value for the angle of hexa-
PARAMETER The angle of hexagon set for the gon.
4496 22
ERROR CUT instruction is out of the If the error occurs again, contact your
range "0 degree < angle < 60 MOTOMAN representative.
degrees."
4496 23 parameter
Encoder type designation error
4496 24 parameter
Observer sampling time error
PARAMETER parameter If the error occurs again, contact your
4496 25
ERROR Two-degree-of-freedom system MOTOMAN representative.
Kp value error
parameter Correct the parameter setting.
PARAMETER
4496 26 The setting of torque accelera- If the error occurs again, contact your
ERROR
tion/deceleration designation MOTOMAN representative.
parameter is incorrect.
4496 27 parameter
Observer polarity setting error
4496 28
ERROR The inertia value error for the shift MOTOMAN representative.
value calculation

Alarm list
Alarm series 4000
Alarm Sub
number code
4496 29
ERROR Observer attenuation constant MOTOMAN representative.
error
4496 30
ERROR Torque estimation parameter MOTOMAN representative.
error
parameter
4496 31 The segment clock error
occurred when the PV loop is 1
ms.
4496 32
ERROR Non-robot axis observer selection MOTOMAN representative.
error
PARAMETER parameter
ERROR Zero is set for the response time
constant.
4496 34 parameter
Effeciency data error
The averaging time constant must be set
Setting error of motion control for the optimized acceleration/deceleration
PARAMETER parameter control.
4496 35
ERROR Zero is set for the averaging time Correct the parameter setting.
constant. If the error occurs again, contact your
4496 36 parameter
Torque limit ratio data error
4496 37 parameter
Coulomb friction data error
4496 38
ERROR Kinematic friction coefficient data MOTOMAN representative.
error
PARAMETER
4496 39 The setting in the optimized If the error occurs again, contact your
ERROR
acceleration/deceleration desig- MOTOMAN representative.
nation parameter is incorrect.
PARAMETER parameter
ERROR An uninstalled function is desig-
nated.
parameter
4496 41 The dynamics-model calculation
at the optimized acceleration/
deceleration is invalid.

Alarm list
Alarm series 4000
Alarm Sub
number code
PARAMETER parameter
ERROR Zero is set for the inertia of
dynamics fixed model.
4496 43
ERROR Designation error for dynamics- MOTOMAN representative.
model calculation type
parameter
4496 44 The optimized acceleration/
deceleration control of speed limit
function is disabled.
PARAMETER
4496 45 The axis designation parameter If the error occurs again, contact your
ERROR
for the speed limit function is not MOTOMAN representative.
set.
PARAMETER
4496 46 The setting in the mode designa- If the error occurs again, contact your
ERROR
tion parameter for the speed limit MOTOMAN representative.
function is incorrect.
parameter
PARAMETER Zero or negative value is set in
ERROR the allowable braking torque
parameter for the speed limit
function.
parameter
PARAMETER Zero or a negative value is set in
ERROR the speed adjustment ratio
parameter for the speed limit
function.
parameter
ERROR the torque limit adjustment ratio
parameter for the acceleration/
deceleration tuning.
parameter
Zero or a negative value is set in
PARAMETER the parameter that sets the short-
ERROR est acceleration/deceleration
time for when the excessive
torque is applied at the optimized
acceleration/deceleration.
parameter
PARAMETER
4496 51 Zero is set for the dimension Correct the parameter setting.
ERROR
information "a3" for the SKR
manipulator.

Alarm list
Alarm series 4000
Alarm Sub
number code
parameter
PARAMETER
4496 52 The setting of sealer-gun control- Correct the parameter setting.
ERROR
group parameter for the servo
sealer control is incorrect.
parameter
PARAMETER
4496 53 The parameter setting for the Correct the parameter setting.
ERROR
Cartesian manipulator X-axis
data is incorrect.
parameter
PARAMETER
4496 54 The parameter setting for the Correct the parameter setting.
ERROR
Cartesian manipulator Y-axis
data is incorrect.
4496 55
ERROR The setting for the Dual-arm MOTOMAN representative.
manipulator is incorrect.
parameter
4496 56 Correct the parameter setting.
ERROR the FORMCUT maximum accel-
eration/deceleration time param-
eter.
parameter
4496 57 The setting of expanded check-
point designating bits for the arm
interference check is incorrect.
parameter
PARAMETER
4496 60 Zero or a negative value is set for Correct the parameter setting.
ERROR
the sphere at the arm interfer-
ence check point.
parameter
PARAMETER
4496 61 Zero or a negative value is set for Correct the parameter setting.
ERROR
the cylinder at the arm interfer-
ence check point.
parameter
PARAMETER
4496 62 The number of designated check Correct the parameter setting.
ERROR
points for the arm interference
chek is insufficient.
parameter
PARAMETER All of X, Y, and Z value of the
ERROR expanded check-point 1 for the
arm interference check are set to
zero.
parameter
PARAMETER All of X, Y, and Z value of the
ERROR expanded check-point 2 for the
arm interference check are set to
zero.

Alarm list
Alarm series 4000
Alarm Sub
number code
parameter
PARAMETER The setting of wrist axis angle for
ERROR tube-incorporated wrist type
manipulators or three-roll wrist
type manipulators is incorrect.
parameter Change the parameter setting to disable
PARAMETER
4496 86 The special link JOG operation the special link JOG operation for this
ERROR
cannot be used with this manipu- manipulator.
lator.
parameter
PARAMETER
4496 87 The setting in the parameter for Correct the parameter setting.
ERROR
special angle limit check designa-
tion is incorrect.
parameter
4496 91 The setting of the deceleration
speed for the path-priority control
is less than zero.
parameter
PARAMETER
4496 92 A negative value is set in the Correct the parameter setting.
ERROR
roundness parameter for the
path-priority control.
PARAMETER parameter
ERROR The link parameter for the cutting
device is not set.
parameter This function cannot be used for control
PARAMETER
4496 95 The real-time bending correction groups other than the robot axis. Correct
ERROR
function is enabled for a control- the parameter setting.
group other than robot axis.
parameter
PARAMETER
4496 96 Zero is set for the dimension Correct the parameter setting.
ERROR
information "a2" for the Arc Cell
Torch Arm type manipulators.
parameter
PARAMETER Zero is set for the deceleration
ERROR ratio for double T-axis unit of the
V-shaped double T-axis manipu-
lator.
Incorrect teaching points for cali-
DEFECTIVE bration between manipulators Perform the teaching again so that the
4497 1 TAUGHT POINT Some of the teaching points for teaching points are different from one
(CALIB) master-group are on the same another.
point.
4497 2 TAUGHT POINT Some of the teaching points for teaching points are different from one
(CALIB) slave-group are on the same another.
point.

Alarm list
Alarm series 4000
Alarm Sub
number code
4497 3 TAUGHT POINT The 2nd-axis positions of C3, C4, 2nd-axis positions of C3, C4, and C5 of
(CALIB) and C5 of station axes are not the the station axes are the same.
same.
DEFECTIVE bration between manipulators Perform the teaching again so that the 1st-
4497 4 TAUGHT POINT The 1st-axis positions of C1, C2, axis positions of C1, C2, and C3 of station
(CALIB) and C3 of station axes are not the axes are the same.
same.
4497 5 TAUGHT POINT The 2nd-axis positions of C1, C2, 2nd-axis positions of C1, C2, and C3 of
(CALIB) and C3 of station axes are the station axes are not the same.
same.
4497 6 TAUGHT POINT The 1st-axis rotation direction of axis rotation direction of C3, C4, and C5 of
(CALIB) C3, C4, and C5 of station axes station axes are the same.
are not the same.
4497 7 TAUGHT POINT The 1st-axis (elevation axis) posi- axis (elevation axis) positions of C1, C2,
(CALIB) tions of C1, C2, and C3 of station and C3 of station axes are the same.
axes are not the same.
4497 8 TAUGHT POINT The 1st-axis (elevation axis) posi- axis (elevation axis) positions of C3, C4,
(CALIB) tions of C3, C4, and C5 of station and C5 of station axes are the same.
axes are not the same.
An error occurred in a job without
control group.
CANNOT
An attempt was made to execute Register the instruction in a job with con-
4498 EXECUTE JOB
an instruction that could not be trol group.
(NO GRP AXIS)
executed in a job without control
group.
The position type variable is not
registered.
UNDEFINED
An attempt was made to use the
4499 POSITION Set the position type variable.
position type variable that was
VARIABLE
not set. (Subcode: The variable
number)
The user coordinate is not regis-
tered.
UNDEFINED An attempt was made to use the
4500 Set the user coordinate.
USER FRAME user coordinate that was not set.
(Subcode: User coordinate
number)
The number of tasks exceeded
OUT OF the limit.
Reset the alarm, and then try again. If the
RANGE (PAR- An error occurred in the multi-
4501 error occurs again, contact your MOTO-
ALLEL PROC- task control process for the inde-
MAN representative.
ESS) pendent control function. (Sub
code: Task number)

Alarm list
Alarm series 4000
Alarm Sub
number code
An error occurred in option board Remove the option board, and insert it
SL BOARD ON- at power ON. The option board properly again.
4502
LINE ERROR was detected not to operate nor- If the error occurs again, contact your
mally at power ON. MOTOMAN representative.
UNDEFINED Arc retry could not be executed
Register a step before the ARCON instruc-
4505 POSITION FOR because there was no step
tion.
ARC ON before the ARCON instruction.
Arc-restart-return could not be
UNDEFINED executed because there was no
POS FOR restart-return step in the job. Reset the alarm, and then re-program the
4506
RESTART (Example: A retry request was job.
RETURN made while executing a step of
the called job.)
Incorrect teaching point for
Perform the teaching again so that the
REFP POS search detection
search start point and the motion target
ERROR The search start point and the
4507 point are not the same.
(SEARCH motion target point are the same,
Increase the distance between the search
MOTION) or the distance between the two
start point and the motion target point.
points is too short.
An invalid coordinate system was
SPECIFIED
specified. Reset the alarm, and then specify a valid
4508 0 ERROR
The specified coordinate system coordinate system.
(COORDINATE)
does not exist.
specified.
SPECIFIED
Designation error of the master Reset the alarm, and then specify a valid
4508 1 ERROR
tool coordinate system. This coordinate system.
(COORDINATE)
coordinate system cannot be
used.
SPECIFIED specified.
Reset the alarm, and then specify a valid
4508 2 ERROR Designation error of the tool coor-
coordinate system.
(COORDINATE) dinate system. This coordinate
system cannot be used.
4508 6 ERROR Designation error of the conveyor
coordinate system.
(COORDINATE) coordinate system. This coordi-
nate system cannot be used.
4508 7 ERROR Designation error of the weaving
coordinate system.
(COORDINATE) coordinate system. This coordi-
nate system cannot be used.
specified.
SPECIFIED
Designation error of the Reset the alarm, and then specify a valid
4508 8 ERROR
COMARC coordinate system. coordinate system.
(COORDINATE)
This coordinate system cannot
be used.
4508 10 ERROR Designation error of the cylindri-
coordinate system.
(COORDINATE) cal coordinate system. This coor-
dinate system cannot be used.

Alarm list
Alarm series 4000
Alarm Sub
number code
specified.
SPECIFIED
Designation error of the coordi- Reset the alarm, and then specify a valid
4508 11 ERROR
nate system for the external ref- coordinate system.
(COORDINATE)
erence point. This coordinate
system cannot be used.
specified.
SPECIFIED
4508 12 ERROR
nate system for 3D shifting. This coordinate system.
(COORDINATE)
coordinate system cannot be
used.
specified.
SPECIFIED
4508 15 ERROR
nate system at IMOV for 3D shift- coordinate system.
(COORDINATE)
ing. This coordinate system
cannot be used.
specified.
SPECIFIED
Designation error of the H-LINK Reset the alarm, and then specify the valid
4508 16 ERROR
type cylindrical coordinate sys- coordinate system.
(COORDINATE)
tem. This coordinate system
cannot be used.
The master or slave control group is incor-
MFRAME An error occurred at MFRAME
4509 1 rect when the master tool user coordinate
ERROR execution.
is specified.
The SQRT instruction could not
CANNOT EXE- be executed.
CUTE An attempt was made to calcu-
4510 Correct the job.
INSTRUCTION late the square root of negative
(SQRT) value. (The second argument
was negative.)
Incorrect robot position when the
servo was turned ON
The pulse difference of the robot
position exceeded the allowable
OUT OF value between when the servo
4511 RANGE (DROP- was OFF previously and when Reset the alarm, and then try again.
VALUE) the servo was ON this time.
The standard allowable number
of pulses is 100. (Subcode: Con-
trol group exceeding the allowa-
ble value.)
The teaching points are aligned
in a straight line.
TWO STEPS Perform the teaching again so that the
In the user coordinates for cali-
4512 SAME LINE teaching points are not aligned in a
bration between manipulators,
(3 STEPS) straight line.
three or more teaching points are
aligned in a straight line.
Reduce the speed of the step (move
EXCESSIVE
At the safety speed 1, the manip- instruction) where the alarm occurred.
SEGMENT
4513 ulator motion speed exceeded The manipulator may be near the singular
(SAFETY: 1)
the speed limit value (LOW level). point. Change the position and orientation
: LOW
of the manipulator.

Alarm list
Alarm series 4000
Alarm Sub
number code
EXCESSIVE At the safety speed 1, the manip-
SEGMENT ulator motion speed exceeded
4514 The manipulator may be near the singular
(SAFETY: 1) the speed limit value (HIGH
point. Change the position and orientation
: HIGH level).
of the manipulator.
EXCESSIVE
At the safety speed 2, the manip- instruction) where the alarm occurred.
SEGMENT
4515 ulator motion speed exceeded The manipulator may be near the singular
(SAFETY: 2)
the speed limit value (LOW level). point. Change the position and orientation
: LOW
of the manipulator.
EXCESSIVE At the safety speed 2, the manip-
SEGMENT ulator motion speed exceeded
4516 The manipulator may be near the singular
(SAFETY: 2) the speed limit value (HIGH
point. Change the position and orientation
: HIGH level).
of the manipulator.
An error occurred in search/moni-
toring mode settings in servo sec-
SEARCH
tion.
MONITOR SET Check the system versions for XCP01 and
4517 An error occurred in interface
ERROR WRCA.
with servo section at search/mon-
(SERVO)
itoring mode. (Subcode: The
related control-group)
An error occurred in search/moni-
toring mode releasing in servo
SEARCH MON section.
Check the system versions for XCP01 and
4518 RELEASE An error occurred in interface
WRCA.
ERROR with servo section at search/mon-
itoring mode. (Subcode: The
An error occurred in sphere inter-
SPHERE INTRF
ference between manipulators. Perform the calibration between manipula-
4519 1 ERR (ROBOT)
No calibration between manipulators.
CALCULATION
tors has been made.
A motion was commanded for the
Reset the alarm, and then try again. Turn
AXIS BLOCK- group axis during axis block at
4520 ON the general-purpose input signal set in
ING play mode. (Subcode: The
the parameter.
Job type is inconsistent.
0000
WRONG JOB A robot job was started from the Check that what type of job will be started
4521 _000
TYPE concurrent job at CALL/JUMP before starting.
1
instruction execution.
0000
WRONG JOB A concurrent job was started from Check that what type of job will be started
4521 _100
TYPE the robot job at CALL/JUMP before starting.
1
1000
WRONG JOB A system job was started from Check that what type of job will be started
4521 _000
TYPE the robot job at CALL/JUMP before starting.
1
TAG DATA An error occurred at tag data
Correct the job file.
CHANGE change.
PROCESS An error occurred at instruction
ERROR read-in.
TAG DATA
An error occurred at tag data Correct the job file.
CHANGE
4522 3 change. If the error occurs again, contact your
PROCESS
The tag is not registered. MOTOMAN representative.
ERROR

Alarm list
Alarm series 4000
Alarm Sub
number code
TAG DATA
Correct the job file.
CHANGE An error occurred at tag data
PROCESS change.
ERROR
An error occurred at concurrent
CANNOT EXE- job execution.
4524 CUTE INST There was an unexecutable Correct the job.
(CONCUR JOB) instruction such as move instruc-
tion in the concurrent job.
An error occurred at startup of
SPECIFIED JOB
multi-system job. Needs investigation. Contact your MOTO-
4525 EXECUTION
The specified job could not be MAN representative.
IMPOSSIBILITY
executed.
Incorrect analog output port
UNDEFINED
number Correct the specified analog output port
4527 PORT NO.
The specified analog output port number.
(AOUT)
number was not allowed.
Needs investigation. Contact your MOTO-
An error occurred in the instruc-
MAN representative.
tion syntax.
If replacement of the system software is
SYNTAX The function and the correspond-
4528 necessary, follow the instructions for
ERROR ing instruction data is inconsistent
replacement. After replacement, delete
in the system software. (Sub-
the corresponding instructions, and then
code: Box number)
re-register them.
An error occurred at twin syn-
TWIN COORDI- chronization execution. Specify a R? +S? job for the job started by
4529 1
NATED ERROR A job without control group was SYNC instruction.
started by SYNC instruction.
TWIN COORDI- chronization execution. Specify a R€ +S€ job fo the job started in
4529 2
NATED ERROR A job only with robot axes was SYNC.
started by SYNC instruction.
chronization execution.
TWIN COORDI- Specify a R€ +S€ job fo the job started in
4529 3 A job only with master control
NATED ERROR SYNC.
group axes was started by SYNC
instruction.
Correct the job.
TWIN COORDI- At full synchronization, the com-
NATED ERROR pletion timings of move instruc-
tions for the master and the slave
disagreed.
chronization execution. Correct the job.
TWIN COORDI-
4529 5 At full synchronization, no opera- If the error occurs again, contact your
NATED ERROR
tion request from the master was MOTOMAN representative.
sent.
Correct the job.
TWIN COORDI- At full synchronization, the exe-
NATED ERROR cution timings of move instruc-
tions for the master and the slave
disagreed.

Alarm list
Alarm series 4000
Alarm Sub
number code
An error occurred in conveyor
CONVEYOR synchronization execution. Reset the alarm, and then try again.
4530 1 SYNCHRONIZ- The base axis specification is If the error occurs again, contact your
ING ERROR other than 1 or 2 for conveyor MOTOMAN representative.
characteristic file.
CONVEYOR Reset the alarm, and then try again.
synchronization execution.
4530 2 SYNCHRONIZ- If the error occurs again, contact your
No robot axis in the job for robot
ING ERROR MOTOMAN representative.
axis tracking
No base axis in the job for base
axis tracking
4530 4 SYNCHRONIZ- The conveyor board number and If the error occurs again, contact your
ING ERROR conveyor characteristic file MOTOMAN representative.
number used are incorrect.
4530 5 SYNCHRONIZ- There was no conveyor start If the error occurs again, contact your
ING ERROR position data at prereading MOTOMAN representative.
processing.
No base axis in the job for arc
tracking
Conveyor characteristic file is not
CONVEYOR set.
CHARACTER- "Use state" of the conveyor char- Set "Use state" of conveyor characteristic
4531
ISTIC FILE acteristic file set for the job is not file set for the job to "1: Use."
UNSET set to "1: Use." (Subcode: Con-
veyor characteristic file number)
The conveyor speed decreased
below the "Conveyor Lowest
CONVEYOR Correct the "Conveyor Lowest Speed" set
4532 Speed" set in the conveyor char-
SPEED DOWN in the conveyor characteristic file.
acteristic file. (conveyor number
for subcode.)
CONVEYOR An internal control error occurred
TRACKING at conveyor tracking motion.
CALCULATION Designation error of the conveyor
ERROR tracking control-group
CONVEYOR
at conveyor tracking motion. Reset the alarm, and then try again.
TRACKING
4533 2 Designation error of the user If the error occurs again, contact your
CALCULATION
coordinates for the conveyor MOTOMAN representative.
ERROR
tracking
CONVEYOR at conveyor tracking motion.
TRACKING An attempt was made to use the
CALCULATION conveyor tracking function with
ERROR the slave manipulator at coordi-
nate motion.
CONVEYOR An internal control error occurred
TRACKING at conveyor tracking motion.
4533 4 Set a correct value for the resolution.
CALCULATION Zero is set for the resolution for
ERROR the turn-table synchronization.

Alarm list
Alarm series 4000
Alarm Sub
number code
Check if the weight information in the tool
Excessive interference torque
file is correctly set.
TORQUE The load torque of an axis motor
Reduce the speed in the step where the
4534 INTERFER- exceeded the allowable value
alarm occurred.
ENCE when the manipulator is operat-
Change the position and orientation in the
ing at the specified speed.
step where the alarm occurred.
An error occurred at PSEND
4535 1 PSEND ERROR Check the destination address.
An attempt was made to send a
mail to its own task.
An error occurred at PSEND
4535 3 PSEND ERROR instruction execution. Check the destination address.
The mail box number is incorrect.
An error occurred at PRECV
4536 1 PRECV ERROR Check the destination address.
An attempt was made to receive
a mail from its own task.
4536 2 PRECV ERROR Check the destination address.
The mail data type is inconsist-
ent.
4536 3 PRECV ERROR instruction execution. Check the destination address.
The mail box number is incorrect.
OFFLINEMAIL An error occurred in mail box
BOX control in the offline processing
PROCESSING section.
ERROR Mail box number error
An error occurred in mail box
OFFLINEMAIL
control in the offline processing Reset the alarm, and then try again.
BOX
PROCESSING
Undefined command for mail box MOTOMAN representative.
ERROR
operation
OFFLINEMAIL An error occurred in mail box
BOX control in the offline processing
PROCESSING section.
ERROR OFF_MB_IFS pointer is incorrect.
The robot axis tracking could not
ROBOT AXIS be executed.
4538 TRACKING An attempt was made to execute Correct the job.
IMPOSIBILITY the SYMOVJ instruction at robot
tracking.
CORNER R
at the Corner-R motion. Do not use the Corner-R motion for coordi-
4539 1 CONTROL
The Corner-R motion cannot be nated motion.
ERROR
used for coordinated motion.
CORNER R at the Corner-R motion. Perform the teaching again so that the
4539 2 CONTROL An attempt was made to execute start step and end step are not on the
ERROR the Corner-R motion for the same same point.
point.
CORNER R
at the Corner-R motion. Perform the teaching again so that the
4539 3 CONTROL
The Corner-R zone is taught on a Corner-R zone is not on a strait line.
ERROR
straight line.

Alarm list
Alarm series 4000
Alarm Sub
number code
at the Corner-R motion. Change the setting for the Corner-R
CORNER R
The start position or end position radius.
4539 4 CONTROL
for the Corner-R motion could not Perform the teaching again for the start
ERROR
be calculated inside the start step or end step for Corner-R.
zone or the end zone.
CORNER R at the Corner-R motion.
Do not use the Corner-R motion for master
4539 5 CONTROL The Corner-R motion cannot be
manipulators at coordinated motion.
ERROR used for coordinated motion (with
master manipulators).
Use a MOVL instruction when using the
4539 6 CONTROL The Corner-R motion cannot be
Corner-R motion.
ERROR used for MOVC, MOVS, and
EIMOVC instructions.
CORNER R
at the Corner-R motion. Do not perform weaving when using the
4539 7 CONTROL
The Corner-R motion is disabled Corner-R motion.
ERROR
during weaving.
Use the same tool number in a Corner-R
4539 8 CONTROL Different tool numbers are set in
zone.
ERROR a Corner-R zone (for the Corner-
R middle step and end step).
CORNER R at the Corner-R motion. Disable the higher-order acceleration/
4539 9 CONTROL The Corner-R motion is disabled deceleration when using the Corner-R
ERROR when the higher-order accelera- motion.
tion/deceleration is specified.
CORNER R
at the Corner-R motion. Do not perform the conveyor tracking
4539 17 CONTROL
The Corner-R motion is disabled when using the Corner-R motion.
ERROR
during conveyor tracking.
No job queue data
JOB QUE "QUE" is used in CALL or JUMP Set a data to a job queue, and then call
4540
EMPTY ERROR instruction under the condition "QUE."
that no job queue is used.
An error occurred at VAL instruc-
tion execution.
INVALID INPUT An attempt was made to convert Check the data of character string of con-
4541
STRING (VAL) a character string that could not version source.
be converted to a numerical
value.
An error occurred at MRESET
instruction execution. Reset the alarm, and then try again.
MRESET
4542 1 An MRESET instruction was exe- If the error occurs again, contact your
ERROR
cuted while no endless axis was MOTOMAN representative.
designated.
An error occurred at job return.
At job return, an attempt was
JOB CALL made to fetch a data from an
STACK ERROR empty job call stack or to stack a
data in the job call stack that is
full.

Alarm list
Alarm series 4000
Alarm Sub
number code
An error occurred at MID$
Check the data of the caracter string to be
4544 1 MID$ ERROR The first character of character
extracted.
string to be extracted is null at
MID$ instruction execution.
An error occurred at MID$
Check the extraction start position or the
The extraction start position
4544 2 MID$ ERROR data of the character string to be
exceeds the character string
extracted.
length at MID$ instruction execu-
tion.
An error occurred at OPEN/
COMMUNICA- CLOSE instruction execution. Reset the alarm, and then try again.
4545 TION SERVICE An error occurred in the commu- If the error occurs again, contact your
ERROR nication service at OPEN/CLOSE MOTOMAN representative.
The system job could not be exe-
CANNOT cuted. Reset the alarm, and then try again.
4546 EXECUTE An error in the system number of If the error occurs again, contact your
SYSTEM JOB system job. (Subcode: System MOTOMAN representative.
number)
A primitive error occurred in the Reset the alarm, and then try again.
PRIMITIVE
4547 system software. (Subcode: Error If the error occurs again, contact your
ERROR
code) MOTOMAN representative.
An error occurred at INIEVNT
CANNOT
instruction execution. Reset the alarm, and then try again.
OPERATE
4548 The specified event could not be If the error occurs again, contact your
SPECIFIED
operated at INIEVNT instruction MOTOMAN representative.
EVENT QUE
execution.
An error occurred at INIEVNT
INIEVNT NOT INIEVNT instruction was not exe-
4549 Execute an INIEVNT instruction.
EXECUTED cuted before having executed the
event related process. (Sub-
code: System number)
CANNOT EXE- The specified instruction in the
4550 CUTE INST user job could not be executed. Correct the job.
(USER JOB) (Subcode: System number)
The used function and the sys-
SOFTWARE tem are inconsistent.
UNMATCH The multi-layer welding function
is not used.
UNMATCH The observer function is not
used.
The used function and the sys- Reset the alarm, and then try again.
SOFTWARE
4565 3 tem are inconsistent. If the error occurs again, contact your
UNMATCH
The TURBO function is not used. MOTOMAN representative.
UNMATCH The COMARC function is not
used.

Alarm list
Alarm series 4000
Alarm Sub
number code
UNMATCH The conveyor/press synchroniza-
tion function is not used.
UNMATCH The shared motion function is not
used.
UNMATCH The layer motion function is not
used.
UNMATCH The general sensor function is
not used.
UNMATCH The servo float function is not
used.
UNMATCH The laser cutting function (with
small circle cutter) is not used.
UNMATCH The motor gun function (for spot
welding application) is not used.
UNMATCH The speed control function
(VCON/VCOF) is not used.
UNMATCH The servo hand function (for han-
dling application) is not used.
tem are inconsistent. Reset the alarm, and then try again.
SOFTWARE
4565 14 The laser cutting function (for If the error occurs again, contact your
UNMATCH
form cutting operation) is not MOTOMAN representative.
used.
tem are inconsistent. Reset the alarm, and then try again.
SOFTWARE
4565 15 The series communication func- If the error occurs again, contact your
UNMATCH
tion between the systems MOTOMAN representative.
(PSEND/PRECV) is not used.
UNMATCH The motion extension function is
not used.
The used function and the sys- Reset the alarm, and then try again.
SOFTWARE
4565 17 tem are inconsistent. If the error occurs again, contact your
UNMATCH
The bending function is not used. MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
UNMATCH The ME-NET function is not
used.
UNMATCH An attempt was made to execute
an undefined instruction.
USER An internal control error occurred
COORDI- at preparation of a user coordi- Perform the teaching again for the user
4566 1
NATES GENER- nates. coordinates.
ATION ERROR The teaching points are incorrect.
USER
at preparation of a user coordi-
COORDI- Perform the teaching again for the user
4566 2 nates.
NATES GENER- coordinates.
The teaching points for user-
ATION ERROR
coordinate turning are incorrect.
USER at preparation of a user coordi-
COORDI- nates.
NATES GENER- The robot axis is not specified for
ATION ERROR the control group of the job to
prepare the user coordinates.
USER An internal control error occurred
COORDI- at preparation of a user coordi-
NATES GENER- nates.
ATION ERROR Position data error
USER
at preparation of a user coordi- Reset the alarm, and then try again.
COORDI-
4566 6 nates. If the error occurs again, contact your
NATES GENER-
Setting error of the slave group MOTOMAN representative.
ATION ERROR
for user coordinate conversion
The distance could not be moni-
tored when executing a move
Do not perform the arc retry or restart
CANNOT MONI- instruction.
4567 operation, or change the interpolation
TOR DISTANCE An attempt was made to execute
instruction to MOVL/MOVC.
MOVJ/MOVS instruction in arc
retry or restart operation.
No press characteristic file is set.
UNDEFINED
An attempt was made to use the
PRESS CHAR- Set the status of press characteristic file to
4568 unused press characteristic file in
ACTERISTIC be used in the job to "Used State."
a job. (Subcode: Press charac-
FILE
teristic file number)
No press resolution data is set.
PRESS RESO- The status of press resolution
Set the data, and then press "Data Set"
4569 LUTION DATA data to be used in the job was set
button to set the status to "Completed."
UNSET to "Incomplete." (Subcode: Press
characteristic file)
SERVO FLOAT Check the ROM version of servo board.
The servo float mode could not
MODE Reset the alarm, and then try again.
4571 be reset when executing a
RELEASE If the error occurs again, contact your
FLOATOF instruction.
UNDEFINED Restart the setting of configuration in
The control group for the motor
4572 MOTOR GUN maintenance mode, and correct the setting
gun is not set.
CONTROL GRP of motor gun axis.

Alarm list
Alarm series 4000
Alarm Sub
number code
Incorrect spot welder number
SPOT WELDER
The welder number set in the gun Correct the welder number set in the gun
4573 NUMBER
characteristic file is incorrect. characteristic file.
ERROR
(Subcode: Welder number)
The spot welding did not com-
Remove the cause such as disconnection
plete within the specified time.
of power supply to the timer conductor,
SPOT WELD Neither the welding completion
and then try again.
4574 COMPLETE signal nor the welding error signal
If the response from the timer takes too
TIME LIMIT was received from the timer con-
long time due to the system layout,
ductor within the set time. (Sub-
increase the set time.
code: Welder number)
Incorrect setting of spot welding
ERROR IN start timing
Set the 2nd pressure, or change the start
4575 WELD START For motor gun, the welding timing
timing.
TIMING SET was set to "After First Pressure"
while no 2nd pressure was set.
An error occurred when setting
the motor gun control mode. Check the ROM version of servo board.
ERR IN MOTOR
Though a motor gun control Reset the alarm, and then try again.
4576 GUN CONT
mode setting command was sent If the error occurs again, contact your
MODE
to the servo section, no response MOTOMAN representative.
was received.
An error occurred when resetting
the motor gun control mode. Check the ROM version of servo board.
ERR IN MOTOR
Though a motor gun control Reset the alarm, and then try again.
4577 GUN MODE
mode resetting command was If the error occurs again, contact your
RLSE
sent to the servo section, no MOTOMAN representative.
response was received.
An error occurred when execut-
ing spot welding.
SPOT WELD An error occurred when execut- Reset the timer conductor where the weld-
4578
ERROR ing welding using the specified ing error occurred, and then try again.
system timer conductor. (Sub-
code: Welder number)
An error occurred in the anticipa-
ANTICIPATION
tion control processing. Register a move instruction between work
4579 1 CONTROL
No availability in anticipation con- instructions.
ERROR
trol
ANTICIPATION
tion control processing. Register a move instruction between work
4579 2 CONTROL
The anticipation data exceeded instructions.
ERROR
the maximum length.
Anticipation could not be exe-
ANTICIPATION Reset the alarm, and then try again.
cuted at re-painting.
4580 DISTANCE Refer to Painting System Additional Func-
No return step in re-painting func-
SHORTAGE tion Manual for details.
tion after emergency stop
DEFECTIVE
tion output file. Reset the alarm, and then correct the set
4581 1 ANTICIPATION
Incorrect setting of OT output number.
FILE
number for anticipation output file
DEFECTIVE
tion output file. Reset the alarm, and then correct the set
4581 2 ANTICIPATION
Incorrect setting of OG output number.
FILE
number for anticipation output file
CANNOT EXE- An invalid gun type is set.
4583 CUTE GUN The mode impossible to control is Change the motion mode set to the gun.
TYPE set for the gun.

Alarm list
Alarm series 4000
Alarm Sub
number code
ing a STRWAIT instruction. Remove the cause such as defective limit
STRWAIT TIME No confirmation signal specified switch, and then try again.
4584
OUT in the stroke change confirmation It the error occurs again, contact your
instruction was input within the MOTOMAN representative.
set time.
The PG power supply could not
SERVO PART be turned ON.
Check the cable connection of motor gun
4585 PG POWER ON The encoder power supply could
encoder.
ERROR not be turned ON when turning
ON the control power supply.
An error occurred when changing
the gun.
MOTOR GUN
A GUNCHG instruction was exe- Check the cable connection of motor gun
4587 1 CHANGE
cuted in the system configuration encoder.
ERROR
that did not allow the gun change
function.
MOTOR GUN the gun.
Execute GUNCHG/PICK instruction when
4587 2 CHANGE A GUNCHG/PICK instruction was
the motor gun motor is servo OFF.
ERROR executed while the motor gun
motor was servo ON.
MOTOR GUN the gun.
Execute GUNCHG/PICK instruction when
4587 3 CHANGE A GUNCHG/PICK instruction was
the ATC is in chuck status.
ERROR executed while the ATC was in
unchuck status.
MOTOR GUN the gun. Execute GUNCHG/PLACE instruction
4587 4 CHANGE A GUNCHG/PLACE instruction when the ATC is in chuck status.
ERROR was executed while the ATC was
in unchuck status.
MOTOR GUN the gun.
Check the cable connection of motor gun
4587 5 CHANGE The encoder powr supply could
encoder.
ERROR not be turned ON when executing
a GUNCHG/PICK instruction.
the gun.
MOTOR GUN
The encoder powr supply could Check the cable connection of motor gun
4587 6 CHANGE
not be turned OFF when execut- encoder.
ERROR
ing a GUNCHG/PLACE instruc-
tion.
the gun. Check the gun characteristic file number
MOTOR GUN
The gun number specified by the specified by GUNCHG instruction.
4587 7 CHANGE
GUNCHG instruction did not Check the status of gun identification sig-
ERROR
agree with the gun identification nal.
signal.
MOTOR GUN the gun.
Check the 1st gun axis selection signal
4587 8 CHANGE The 1st gun axis selection signal
setting.
ERROR is not set when executing the
twin-wrist gun change.

Alarm list
Alarm series 4000
Alarm Sub
number code
the gun.
MOTOR GUN
The right and left gun axis selec- Check the setting for the gun axis selec-
4587 9 CHANGE
tion signals were duplicated tion signal.
ERROR
when executing the twin-wrist
gun change.
An error occurred at speed con-
SERVO PART
trol mode setting. Check the ROM version of servo board.
SPEED CON-
Though a speed control mode Reset the alarm, and then try again.
4591 TROL MODE
setting command was sent to the If the error occurs again, contact your
SETTING
servo section, but no response MOTOMAN representative.
ERROR
was received.
An error occurred at speed con-
SERVO PART
trol mode release. Check the ROM version of servo board.
SPEED CON-
Though a speed control mode Reset the alarm, and then try again.
4592 TROL MODE
release command was sent to the If the error occurs again, contact your
RELEASE
servo section, but no response MOTOMAN representative.
ERROR
was received.
An error occurred at servo hand
SERVO HAND control mode setting. Check the ROM version of servo board.
CONTROL Though a servo hand control Reset the alarm, and then try again.
4593
MODE SET- mode setting command was sent If the error occurs again, contact your
TING ERROR to the servo section, but no MOTOMAN representative.
An error occurred at servo hand
SERVO HAND
control mode setting. Check the ROM version of servo board.
CONTROL
Though a servo hand control Reset the alarm, and then try again.
4594 MODE
mode release command was If the error occurs again, contact your
RELEASE
sent to the servo section, but no MOTOMAN representative.
ERROR
in the Form Cutting motion.
The setting for radius is incorrect.
For a circle, it is incorrectly set
FORM CUT-
as: radius < or = 0, radius < mini-
TING
4595 1 mum radius value, or radius > Correct the radius data.
MOTION
maximum radius value.
IMPOSSIBILITY
For an ellipse, it is incorrectly set
as: radius ≤ 0, radius < minimum
radius value/2, or radius > (maxi-
mum radius/2 − width/2).
The setting for width is incorrect.
FORM CUT- For a rectangle, it is incorrectly
TING set as: width < 1.0, width > sqrt
4595 2 Correct the width data.
MOTION (maximum diameter2 − height2),
IMPOSSIBILITY or width > maximum diameter.
It is incorrectly set as: width < 0,
width > maximum diameter −2 ×
radius.

Alarm list
Alarm series 4000
Alarm Sub
number code
FORM CUT- The setting for height is incorrect.
TING For a rectangle, it is incorrectly
4595 3 Correct the height data.
MOTION set as: height > maximum diame-
IMPOSSIBILITY ter, height < minimum diameter/2,
or height > sqrt (maximum
diameter2 − width2).
FORM CUT-
The setting for the corner radius
TING
4595 4 is incorrect. Correct the corner radius data.
MOTION
For a rectangle, it is incorrectly
IMPOSSIBILITY
set as: corner radius > width/2 or
corner radius > height/2.
The setting for overlap is incor-
rect.
FORM CUT-
For a rectangle, it is incorrectly
TING
4595 5 set as overlap > width/2. Correct the overlap data.
MOTION
For a circle, it is incorrectly set as
IMPOSSIBILITY
overlap > ABS (2π × radius).
For an ellipse, it is incorrectly set
as overlap > π × radius +ABS
(width/2).
FORM CUT- in the Form Cutting motion.
TING The setting for the cutting speed
4595 6 Correct the cutting speed data.
MOTION is incorrect. It is set as the cut-
IMPOSSIBILITY ting speed > maximum linear
speed.
FORM CUT-
TING
4595 7 Coordinated motion cannot be Do not use the coordinated motion.
MOTION
used with the Form Cutting
IMPOSSIBILITY
motion.
Correct the setting of the minimum diame-
TING Zero or a negative value is set in
4595 8 ter parameter (S1CxG063) for the Form
MOTION the minimum diameter parame-
Cutting motion.
IMPOSSIBILITY ter (S1CxG063) for the Form Cut-
ting motion.
Correct the setting of the maximum diame-
TING Zero or a negative value is set in
4595 9 ter parameter (S1CxG064) for the Form
MOTION the maximum diameter parame-
Cutting motion.
IMPOSSIBILITY ter (S1CxG064) for the Form Cut-
ting motion.
FORM CUT- Although "PLACEMENT" or
TING "AUTO" is set for the start point
4595 10 Execute the FORMAPR instruction.
MOTION designation on the FORM CUT
IMPOSSIBILITY SETTING window, the FORM-
APR instruction was not exe-
cuted.

Alarm list
Alarm series 4000
Alarm Sub
number code
FORM CUT-
TING The Cut file settings of FORMAPR and
4595 11 The Cut file setting of the FORM-
MOTION FORMCUT instructions must be same.
APR instruction is different from
IMPOSSIBILITY
that of the FORMCUT instruction.
The FORMAPR instruction cannot be used
An internal control error occurred for the conventional FORMCUT instruc-
FORM CUT-
in the Form Cutting motion. tion.
TING
4595 12 A FORMAPR instruction was Change the instruction.
MOTION
used for the conventional FORM- Needs to validate the new FORMCUT
IMPOSSIBILITY
CUT instruction. instruction. Contact your MOTOMAN rep-
resentative.
A form other than a circle, rectangle, and
ellipse cannot be designated for the con-
ventional FORMCUT instruction.
TING A form other than a circle, rectan-
4595 13 Designate a circle, rectangle, or ellipse.
MOTION gle, and ellipse was designated
Needs to validate the new FORMCUT
IMPOSSIBILITY for the conventional FORMCUT
instruction. Contact your MOTOMAN rep-
instruction.
resentative.
TING The radius data setting for spe-
4595 90 Correct the radius data.
MOTION cial circular interpolation is incor-
IMPOSSIBILITY rect. It is incorrectly set as the
radius < or = 0.
TING The arc center coordinates could
4595 91 Perform the teaching again.
MOTION not be calculated at special circu-
IMPOSSIBILITY lar interpolation. Incorrect teach-
ing may be the cause.
TING The arc center coordinates could
4595 92 Perform the teaching again.
MOTION not be calculated at special circu-
IMPOSSIBILITY lar interpolation. Incorrect teach-
ing may be the cause.
FORM CUT-
in the Form Cutting motion. Perform the teaching again so that the
TING
4595 93 The averaging time at special cir- moving distance becomes longer.
MOTION
cular interpolation motion is too Reduce the motion speed.
IMPOSSIBILITY
short.
Because the designated plane
FORM CUT-
included reference points at spe-
TING Perform the teaching again for the refer-
4595 94 cial circular interpolation motion,
MOTION ence point 2.
the arc center coordinates could
IMPOSSIBILITY
not be calculated. Incorrect
teaching of the reference point 2
may be the cause.
FORM CUT-
TING Perform the teaching for the reference
4595 100 The arc center position is not set
MOTION point 1 as the arc center position.
for the special circular interpola-
IMPOSSIBILITY
tion motion.

Alarm list
Alarm series 4000
Alarm Sub
number code
OFFLINE at offline position data conver-
POSITION sion.
DATA CONVER- Incorrect information of refer-
SION ERROR ence position data for offline posi-
tion data conversion
at offline position data conver-
OFFLINE
sion. Reset the alarm, and then try again.
POSITION
4597 2 Incorrect user-coordinate number If the error occurs again, contact your
DATA CONVER-
designation in the standard posi- MOTOMAN representative.
SION ERROR
tion data for offline position data
conversion
OFFLINE
at offline position data conver- Reset the alarm, and then try again.
POSITION
4597 3 sion. If the error occurs again, contact your
DATA CONVER-
Incorrect reference-point data for MOTOMAN representative.
SION ERROR
offline position data conversion
POSITION sion.
DATA CONVER- The standard position data for
SION ERROR offline position data conversion
could not correctly be calculated.
POSITION sion.
DATA CONVER- Incorrect pulse incremental value
SION ERROR for offline position data conver-
sion
OFFLINE
POSITION
4597 6 The position data could not cor- If the error occurs again, contact your
DATA CONVER-
rectly be added by the pulse MOTOMAN representative.
SION ERROR
incremental value at the offline
position data conversion.
POSITION sion.
DATA CONVER- Incorrect Cartesian incremental
SION ERROR value for offline position data con-
version
OFFLINE
POSITION
DATA CONVER-
rectly be added by the Catesian MOTOMAN representative.
SION ERROR
incremental value at the offline
OFFLINE
POSITION
4597 9 The position conversion could not If the error occurs again, contact your
DATA CONVER-
be done in the designated coordi- MOTOMAN representative.
SION ERROR
nate system at the offline position
data conversion.

Alarm list
Alarm series 4000
Alarm Sub
number code
POSITION sion.
DATA CONVER- Incorrect incremental value of
SION ERROR angle for offline position data
conversion
OFFLINE
POSITION
DATA CONVER-
rectly be added by the incremen- MOTOMAN representative.
SION ERROR
tal value of angle at the offline
OFFLINE
POSITION
4597 12 The reverse shift value for 3D If the error occurs again, contact your
DATA CONVER-
shifting could not correctly be cal- MOTOMAN representative.
SION ERROR
culated at the offline position data
conversion.
OFFLINE
POSITION
4597 13 The reverse shift value for 3D If the error occurs again, contact your
DATA CONVER-
shifting could not correctly be MOTOMAN representative.
SION ERROR
added at the offline position data
conversion.
POSITION sion.
DATA CONVER- The reverse shift value could not
SION ERROR correctly be calculated at the
offline position data conversion.
POSITION sion.
DATA CONVER- The reverse shift value could not
SION ERROR correctly be calculated at the
offline position data conversion.
POSITION sion.
DATA CONVER- The 3D shifting value could not
SION ERROR correctly be added at the offline
POSITION sion.
DATA CONVER- The shift value could not correctly
SION ERROR be added at the offline position
data conversion.
POSITION sion.
DATA CONVER- No reference point is specified for
SION ERROR the offline position data conver-
sion.

Alarm list
Alarm series 4000
Alarm Sub
number code
OFFLINE
POSITION
4597 19 The positions for the mirror shift If the error occurs again, contact your
DATA CONVER-
function could not correctly be MOTOMAN representative.
SION ERROR
calculated at the offline position
data conversion.
OFFLINE
POSITION
4597 20 The positions could not correctly If the error occurs again, contact your
DATA CONVER-
be converted for the mirror shift MOTOMAN representative.
SION ERROR
function at the offline position
data conversion.
OFFLINE
POSITION
4597 21 The expansion positions for the If the error occurs again, contact your
DATA CONVER-
mirror shift function could not cor- MOTOMAN representative.
SION ERROR
rectly be converted at the offline
OFFLINE
POSITION
4597 22 Incorrect designation of coordi- If the error occurs again, contact your
DATA CONVER-
nates for a new mirror-shift con- MOTOMAN representative.
SION ERROR
version function at the offline
position data conversion
An abnormal response was
SERVO returned from the servo control
4599 0 COMMAND section.
ERROR The servo control processing has
not completed.
UNDEFINED The motor gun characteristic file
Complete the settings for the motor gun
4601 GUN COND is not set. (Subcode: Motor gun
characteristic file.
FILE characteristic file number)
Wire stick occurred at spot weld-
ing.
WIRE STICK-
4603 Wire stick was detected at the Remove the cause of wire stick.
ING
welder. (Subcode: Welder
number)
DESIGNATED
AXIS HOME
POSITION No home position correction data
CORRECTION of specified axis
DATA NON-
EXISTING
ing a SETTOOL instruction.
SETTOOL The difference between the cur- Check if the tag set value is correct.
4605
ERROR rent tool constant and a new set Check if the parameter is set correctly.
value exceeded the allowable
range (parameter set value).

Alarm list
Alarm series 4000
Alarm Sub
number code
The memory area of global varia-
GLOBAL VARI- ble exceeded the limit value. Correct the number of global (user) varia-
4606 ABLE AREA An error occurred in the value of bles to be used, or correct the parameter
OVERFLOW parameter that defines the value.
number of global (user) variables.
MACRO COM-
ing a macro instruction. Correct the registration of execution macro
4607 1 MAND EXECU-
The execution macro job is not job.
TION ERROR
set.
MACRO COM- An error occurred when execut-
Correct the registration of interrupt macro
4607 2 MAND EXECU- ing a macro instruction.
job.
TION ERROR The interrupt macro job is not set.
MACRO COM- ing a macro instruction.
4607 3 MAND EXECU- An attempt was made to start the Correct the macro job.
TION ERROR job that could not be started by
the macro instruction.
ing a macro instruction. Reset the alarm, and then try again.
MACRO COM-
An error occurred in the operation Turn the power OFF then back ON.
4607 5 MAND EXECU-
process of job call stack when the If the error occurs again, contact your
TION ERROR
execution of macro instruction MOTOMAN representative.
was cancelled.
MACRO COM- An error occurred when execut-
4607 6 MAND EXECU- ing a macro instruction.
TION ERROR Incorrect macro number
JOB ARGU- An error occurred when execut-
4608 1 MENT GET ing a GETARG instruction. Correct the job.
ERROR The job argument is not set.
JOB ARGU-
ing a GETARG instruction.
4608 2 MENT GET Correct the job.
No number of the specified job
ERROR
argument
JOB ARGU-
ing a GETARG instruction.
4608 3 MENT GET Correct the job.
The data types of job argument
ERROR
disagreed.
MEMORY PLAY ing the memo play operation.
4609 2 Correct the job.
FILE ERROR The memory play file was being
used in another system.
ing the memo play operation.
MEMORY PLAY
4609 5 The control group in the memory Correct the job.
FILE ERROR
play file did not agree with the
control group of execution job.
ing the memo play operation.
MEMORY PLAY An attempt was made to clear the
4609 6 Correct the job.
FILE ERROR memory play file by a CLEAR
instruction before having exe-
cuted a MEMOF instruction.

Alarm list
Alarm series 4000
Alarm Sub
number code
DESIGNATED
AXIS HOME
POSITION No home position correction data
4604
CORRECTION for the designated axis
DATA
NON-EXISTING
MEMORY PLAY Reset the alarm, and then try again.
at memory play sampling.
4610 1 SAMPLING If the error occurs again, contact your
Failed to read the memory play
sampling data.
Failed to write the memory play
sampling data.
Failed to seek the memory play
sampling data.
MEMORY PLAY
4610 4 SAMPLING Correctly set the memory play mode.
Incorrect mode setting at memory
ERROR
play sampling
MEMORY PLAY at memory play sampling. Reset the alarm, and then try again.
4610 5 SAMPLING Incorrect designation of the con- If the error occurs again, contact your
ERROR trol group at memory play sam- MOTOMAN representative.
pling
K/N < 0 in the memory play sam-
pling section
MEMORY PLAY at memory play sampling. Reset the alarm, and then try again.
4610 7 SAMPLING The memory play sampling data If the error occurs again, contact your
ERROR back-play mode could not be MOTOMAN representative.
detected.
The memory play sampling data
could not be initialized.
OPTON
ing a OPTON instruction.
INSTRUCTION
4611 The number of times that the Correct the OPTON instruction.
EXECUTION
OPTON instruction was exe-
NUMBER OVER
cuted exceeded the limit value.
An error occurred at the execu-
tion of the TSYNC instruction.
The number of synchronizations
Set the same number of synchronizations
4612 TSYNC ERROR (SNUM) specified by the TSYNC
of the TSYNC instruction.
instruction disagreed. (Sub code:
the number of synchronizations
of the first executed TSYNC)
SERVO An internal control error occurred
Set the function designation parameter.
SEALER GUN in the servo sealer gun motion.
CONTROL The function designation parame-
ERROR ter is not set.

Alarm list
Alarm series 4000
Alarm Sub
number code
SERVO in the servo sealer gun motion.
Correct the job.
SEALER GUN No sealer gun axis exists at the
CONTROL job for which the sealer gun con-
ERROR trol was attempted to be exe-
cuted.
SERVO
in the servo sealer gun motion. Correct the job.
SEALER GUN
4613 3 No robot axis exists at the job at If the error occurs again, contact your
CONTROL
which an attempt was made to MOTOMAN representative.
ERROR
execute sealer gun control.
Set either "1" or "2" for PRM1 control
4613 4 method designation of the OPTON instruc-
CONTROL Incorrect designation of the con-
tion.
ERROR trol method for sealer gun control
If "1" is set for PRM1 of the OPTON
4613 5 instruction, set the PRM2 needle position
CONTROL Incorrect designation of the nee-
designation to a value between 0 and 100.
ERROR dle position for sealer gun control
If "2" is set for PRM1 of the OPTON
4613 6 instruction, set PRM2 sealing width desig-
CONTROL Incorrect designation of the seal-
nation to a value between 0 and 30.
ERROR ing width for sealer gun control
SEALER GUN
CHARACTER- The servo sealer gun condition
4614 0 Set the servo sealer gun condition file.
ISTIC FILE file is not set.
UNSET
I/O AXIS I/O axis motion could not be per-
MOTION formed. (in playback)
Stop the I/O axis motion.
4615 0 IMPOSSIBILITY An attempt was made to com-
Correct the job.
(during play- mand a job whose control group
back) was in I/O axis motion.
when shifting the axis. Reset the alarm, and then try again.
AXIS SHIFT
4616 1 The file could not be switched If the error occurs again, contact your
ERROR
because of incorrect start point MOTOMAN representative.
designation.
when shifting the axis.
The control group with which the Reset the alarm, and then try again.
AXIS SHIFT
4616 2 axis shifting is performed disa- If the error occurs again, contact your
ERROR
grees with the control group set MOTOMAN representative.
for the axis shifting function in the
calibration file.
when shifting the axis. Reset the alarm, and then try again.
AXIS SHIFT
4616 3 The calibration file number for If the error occurs again, contact your
ERROR
axis shifting function is out of the MOTOMAN representative.
applicable range.
SU AXIS SU-axes cannot move with the
MOTION DISA- current L- and R-axes position. Reduce the speed of S- and U-axes.
4617 1 BLED For the CSL15D manipulator, the Teach the positions of L- and R-axes again
(LR AXIS POSI- motion speed of S- and U-axes so that S- and U-axes can move.
TION ERROR) exceeded the upper limit.

Alarm list
Alarm series 4000
Alarm Sub
number code
SU-axes cannot move with the
SU AXIS current L- and R-axes position.
MOTION DISA- For the CSL15D manipulator, S- Teach the positions of L- and R-axes again
4617 2 BLED and U-axes were going to move so that S- and U-axes can move.
(LR AXIS POSI- regardless of the limit speed "0" Correct the parameter for speed limit.
TION ERROR) when the positions of L- and R-
axes exceeded the upper limit.
SHIFT at execution of the SHIFT instruc-
INSTRUCTION tion.
4618 1 Set the shift value for Y-axis only.
EXECUTION For the tool shift with Euler angle
ERROR ±90 degrees, the shift value for
axes other than Y-axis is set.
An error occurred in job registra-
UNDEFINED tion table.
4619 JOB ENTRY The job registration table is not Set the job registration table.
TABLE set. (Subcode: Designated regis-
tration number)
Arms or tools interfere between
manipulators.
ARM (TOOL)
The arm interference check Perform the teaching again to correct posi-
4620 0 INTERFER-
between manipulators detected tions for manipulators.
ENCE
that manipulator’s arms or tools
are interfered.
An error occurred in welding
completion signal.
WELD COM-
The welding completion signal Check the settings for welding completion
4621 PLETE SIGNAL
was ON when starting the spot signal.
ERROR
welding instruction execution.
(Subcode: Welder number)
The manipulator’s arm interfers
with a tool.
SELF INTER- The manipulator’s self interfer- Perform the teaching again to correct posi-
4622 0
FERENCE ence check detected that the tions for manipulators.
manipulator’s arm interferes with
a tool.
ing a GETPOS instruction.
An attempt was made to obtain
GETPOS
the step that used a local position
4623 1 COMMAND Correct the GETPOS instruction.
type variable. (The step with
ERROR
local position type variable can-
not be fetched. Example: MOVJ
LP000 VJ=25.00)
ing a GETPOS instruction.
An attempt was made to obtain
GETPOS
the step that used an array posi-
4623 2 COMMAND Correct the GETPOS instruction.
tion type variable. (The step with
ERROR
array position type variable can-
not be fetched. Example: MOVJ
P[0] VJ=25.00)
GETPOS An error occurred when execut-
4623 3 COMMAND ing a GETPOS instruction. Correct the GETPOS instruction.
ERROR The specified step did not exist.

Alarm list
Alarm series 4000
Alarm Sub
number code
PLUG VOLUME
Incorrect setting of amount of fill-
4624 SETTING Review the setting for the amout of fillings.
ings
ERROR
WRONG An error occurred when execut- Reset the alarm, and then try again.
4625 1 EXECUTION OF ing a LOADDB instruction. If the error occurs again, contact your
LOADDB INST No file MOTOMAN representative.
4625 2 EXECUTION OF ing a LOADDB instruction. If the error occurs again, contact your
LOADDB INST No directory MOTOMAN representative.
WRONG Reset the alarm, and then try again.
ing a LOADDB instruction.
4625 4 EXECUTION OF If the error occurs again, contact your
There was no directory entry after
LOADDB INST MOTOMAN representative.
this point.
4625 -1 EXECUTION OF ing a LOADDB instruction. If the error occurs again, contact your
LOADDB INST No file name MOTOMAN representative.
LOADDB INST File presence error MOTOMAN representative.
LOADDB INST Incorrect file name MOTOMAN representative.
LOADDB INST The disk is full. MOTOMAN representative.
LOADDB INST The directory is full. MOTOMAN representative.
LOADDB INST I/O error MOTOMAN representative.
LOADDB INST Invalid handle MOTOMAN representative.
LOADDB INST Handle overflow MOTOMAN representative.
LOADDB INST File has already been opened. MOTOMAN representative.
LOADDB INST File attribute error MOTOMAN representative.
LOADDB INST Open mode error MOTOMAN representative.
4625 -12 EXECUTION OF If the error occurs again, contact your
The hardware disk with large
capacity is used.
LOADDB INST The door is open. MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
LOADDB INST The disk is write-protected. MOTOMAN representative.
LOADDB INST Card controller access error MOTOMAN representative.
LOADDB INST No card MOTOMAN representative.
4625 -32 EXECUTION OF If the error occurs again, contact your
Card drive information readout
error
LOADDB INST Partition table error MOTOMAN representative.
LOADDB INST No drive number MOTOMAN representative.
LOADDB INST No specified partition number MOTOMAN representative.
LOADDB INST Cluster size error MOTOMAN representative.
LOADDB INST Incorrect number of sectors MOTOMAN representative.
LOADDB INST Sector/byte error MOTOMAN representative.
LOADDB INST Card not applicable for I/O MOTOMAN representative.
LOADDB INST Nonsupported version MOTOMAN representative.
LOADDB INST The setting register did not exist. MOTOMAN representative.
LOADDB INST Card not applicable for ATA MOTOMAN representative.
LOADDB INST Double chain error MOTOMAN representative.
LOADDB INST Media error (not fixed disk) MOTOMAN representative.
LOADDB INST Media error (not fixed disk) MOTOMAN representative.

Alarm list
Alarm series 4000
Alarm Sub
number code
LOADDB INST Sector read command error MOTOMAN representative.
LOADDB INST Sector write command error MOTOMAN representative.
An error occurred at S-axis high-
IMPOSSIBLE
speed rotation. Correct the limit distance for S-axis rota-
4626 S-AXIS MOV
The S-axis rotation radius was tion center motion (S1CG067).
(IN SPHERE)
below the lower limit.
GUN RECOGNI- The gun identification signal was
4627 TION SIGNAL not received. (Subcode: Gun Check the gun identification signal.
OFF number)
An error in the variable number
WRITE setting.
VARIABLE NO. Duplicated usage of the written Correct the written destination variable
4628
MULTI SET- destination variable numbers. numbers.
TING (Subcode: Duplicated variable
number)
GROUP
ing the group change function.
4629 1 CHANGE Validate the group change parameter.
The group change parameter
ERROR
was invalid.
GROUP ing the group change function.
Execute the GRPCHG instruction when
4629 2 CHANGE The GRPCHG instruction was
the external axis motor was servo OFF.
ERROR executed while the external axis
motor was servo ON.
GROUP
ing the group change function. Execute the GRPCHG instruction in chuck
4629 3 CHANGE
The GRPCHG instruction was status.
ERROR
executed in unchuck status.
GROUP
ing the group change function.
4629 4 CHANGE Check the group identification signal.
The group identification signal
ERROR
was not received.
4629 5 CHANGE The specified control group Check the specified control group number.
ERROR number and the group identifica-
tion number were unmatched.
Turn ON the encoder PG power supply
4629 6 CHANGE The encoder PG power supply
when GRPCHG is ON.
ERROR was OFF when the GRPCHG
was ON.
Turn OFF the encoder PG power supply
4629 7 CHANGE The encoder PG power supply
when GRPCHG is OFF.
ERROR was ON when the GRPCHG was
OFF.
4629 8 CHANGE The control group that corre- Check the group identification signal.
ERROR sponded to the received group
identification signal did not exist.

Alarm list
Alarm series 4000
Alarm Sub
number code
The gun numbers were over-
DUPLICATED lapped when executing a SVS-
4630 Check the gun numbers.
GUN NUMBER POT instruction. (Subcode: The
overlapped gun number)
UNDEFINED The linear scale characteristic file
4632 LNR SCALE is not set. (Subcode: Linear scale Set the linear scale characteristic file.
FILE characteristic file number)
ing a FOLLOW instruction. Re-execute the move instruction executed
FOLLOWING
4633 1 An attempt was made to re-exe- before the FOLLOW instruction, and then
ERROR
cute the FOLLOW instruction re-execute the FOLLOW instruction.
after interrupting it.
exceeded the limit during the Fol-
Reduce the bending speed.
lowing motion.
FOLLOWING Perform the teaching again so that the
4634 0 With the specified bending
SPEED OVER manipulator moving distance becomes
speed, the manipulator motion
shorter.
speed exceeds the maximum
speed.
The called job could not be exe-
CANNOT cuted because the specified con-
Correct the control group specified by the
4635 EXECUTE trol group was shared with the
CALL instruction.
COMMON JOB called job. (Subcode: The related
control-group)
THICKNESS Incorrect workpiece thickness
4636
ERROR (Sub code: Gun number)
No workpiece presence/absence
TRACK CHG
data at switching the synchroni- Check the workpiece presence/absence
4637 WORK IN/NOT
zation section. (Subcode: Con- data for the synchronization section.
NOT FOUND
veyor characteristic file number)
No workpiece type data at switch-
TRACKING
ing the synchronization section. Check the workpiece type data for the syn-
4638 CHG WORK ID
(Subcode: Conveyor characteris- chronization section.
NOT FOUND
tic file number)
during the SYMOVJ motion.
SYMOVJ INST Reset the alarm, and then try again.
The moving amount in the orien-
4639 1 EXECUTE If the error occurs again, contact your
tation at the SYMOVJ motion
position could not correctly be
calculated.
SYMOVJ INST during the SYMOVJ motion.
Set the conveyor moving amount for the
4639 2 EXECUTE The conveyor moving amount is
SYMOVJ motion.
ERROR not specified for the SYMOVJ
motion.
An error occurred in the prepara-
tion process of the manipulator
motion start position for the
SYMOVJ motion.
An error occurred in the prepara-
tion process of the manipulator
motion end position for the
SYMOVJ motion.

Alarm list
Alarm series 4000
Alarm Sub
number code
WRONG
ing a PSTART instruction.
4640 1 EXECUTION OF Correct the PSTART instruction.
No axis data of control group to
PSTART INST
be disconnected
WRONG
An attempt was made to discon-
4640 2 EXECUTION OF Correct the PSTART instruction.
nect a control group other than
PSTART INST
the occupation control group dur-
ing prereading processing.
WRONG An attempt was made to discon-
4640 3 EXECUTION OF nect a control group other than Correct the PSTART instruction.
PSTART INST the occupation control group
when executing a PSTART
instruction.
The disconnected control group
could not be moved.
CANNOT
The control group disconnected
EXECUTE JOB Do not use the control group disconnected
4641 by itself was used for its own
(SEPARATE by itself for its own move instruction.
move instruction. (Subcode: The
GROUP)
disconnected control group used
by a move instruction)
An error occurred between the Reset the alarm, and then try again.
SPOT WELDER
controller and spot welder. Turn the power OFF then back ON.
4644 1 I/F ERROR
The controller could not access If the error ococurs again, contact your
(ASW)
the welder. MOTOMAN representative.
An error occurred between the
controller and spot welder. Reset the alarm, and then try again.
SPOT WELDER
The controller could not send an Turn the power OFF then back ON.
4644 2 I/F ERROR
instruction to the welder because If the error ococurs again, contact your
(ASW)
the welder was busy in process- MOTOMAN representative.
ing.
SPOT WELDER controller and spot welder.
4644 3 I/F ERROR The welder could not receive the
If the error ococurs again, contact your
(ASW) instruction sent from the control-
ler.
SPOT WELDER Check the specified welder number (sys-
controller and spot welder.
4644 102 I/F ERROR tem), and specify the correct welder
The specified welder number
(ASW) number.
(system) could not be found.
Correct the job.
Hover weaving could not be exe-
NOT PERMIT Reset the alarm, and then try again.
cuted.
4645 FIXED-WEAV Turn the power OFF then back ON.
The hover weaving is disabled in
ON SWVON If the error occurs again, contact your
coordinated motion.
Watchdog timer error in the con-
WDT ERROR cooling the power supply unit.
4800 verter.
(CONVERTER) If the error occurs again, contact your
No response from the converter.

Alarm list
Alarm series 4000

Notes
Headquarters: Distributors:
Sweden MOTOMAN Robotics Europe AB Greece Kouvalias Industrial Robots
Box 4004, SE-390 04 Kalmar, Sweden 25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +46-480-417800, Fax: +46-480-417999 Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Group companies:
Tápiószele, Jászberényi út 4., H-2766, Hungary
Denmark MOTOMAN Robotics Europe AB Tel: +36-30-9510065, Fax: +36-1-2562012
Anelystparken 47A, DK-8381 Tilst, Denmark
Israel KNT Engineering Ltd.
Tel: +45-7022-2477, Fax: +45-7022-2478
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Finland MOTOMAN Robotics Finland OY Tel: +972-3 9231944, Fax: +972-3 9231933
Messinkikatu 2, FI-20380 Turku, Finland Norway ROBIA ASA
Tel: +358-403000600, Fax: +358-403000660
Industriveien 1, NO-3300 Hokksund, Norway
France MOTOMAN Robotics SARL Tel: +47-32252820, Fax: +47-32252840
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-
South Africa Robotic Systems S.A. PTY Ltd
de-Grand-Lieu, France
P.O. Box 90741, Bertsham 2013, Johannesburg,
Tel: +33-2-40131919, Fax: +33-40754147
South Africa
Germany MOTOMAN Robotec GmbH Tel: +27-11-4943604, Fax: +27-11-4942320
Kammerfeldstraße 1, DE-85391 Allershausen, Germany Switzerland Messer SAG
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Langweisenstrasse 12, CH-8108 Dällikon,
Germany MOTOMAN Robotec GmbH Switzerland
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany Tel: +41-18471717, Fax: +41-18442432
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Portugal MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal
Tel: +351-234 943 900, Fax: +351-234 943 108
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-480-417800, +46-486-41410
www.motoman.se info@motoman.se
a subsidiary of YASKAWA Electric Corporation

MOTOMAN NX100 Alarm List

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MOTOMAN NX100

Document No: MRS6102GB.0.U

This manual is a revised version of the YEC document:

Page 2 Revised: 04-03-31 NX_framsida eng.fm

3. Alarm message list 9

Mrs6102GB.0.UTOC.fm Revised: 04-03-31 Page 3

Page 4 Revised: 04-03-31 Mrs6102GB.0.UTOC.fm

MOTOMAN NX100 alarm list

Alarm code classification

Alarm code Alarm level Alarm reset method

It is not possible to reset by "RESET" under the

It is not possible to reset by "RESET" under the

4 After correcting the cause, it is possible to reset

After correcting the cause for which the system

Mrs6102GB.fm Revised: 04-03-31 Page 5

Alarm No. ALARM 4100 1 Sub-data

Main Menu ShortCut

DATA EDIT DISPLAY UTILITY

Main Menu ShortCut

Page 6 Revised: 04-03-31 Mrs6102GB.fm

2.2 Special alarm display

XYZ coordinate data

Control group data

Mrs6102GB.fm Revised: 04-03-31 Page 7

Multiple SERVOPACK system

Independent control function (optional)

Page 8 Revised: 04-03-31 Mrs6102GB.fm

3. Alarm message list

3.1 Alarm series 0000

Mrs6102GB.fm Revised: 04-03-31 Page 9

Page 10 Revised: 04-03-31 Mrs6102GB.fm

Turn the power OFF then back ON.

Mrs6102GB.fm Revised: 04-03-31 Page 11

Page 12 Revised: 04-03-31 Mrs6102GB.fm

The servo board #3 is defective.

Mrs6102GB.fm Revised: 04-03-31 Page 13

3.2 Alarm series 1000

Page 14 Revised: 04-03-31 Mrs6102GB.fm

Mrs6102GB.fm Revised: 04-03-31 Page 15

The file data used by MOTION

Page 16 Revised: 04-03-31 Mrs6102GB.fm

The file data used by MOTION

Mrs6102GB.fm Revised: 04-03-31 Page 17

The file data used by MOTION

Page 18 Revised: 04-03-31 Mrs6102GB.fm

The file data used by MOTION

Mrs6102GB.fm Revised: 04-03-31 Page 19

An error occurred in the setup

Page 20 Revised: 04-03-31 Mrs6102GB.fm

SYSTEM Turn the power OFF then back ON.

Mrs6102GB.fm Revised: 04-03-31 Page 21

Page 22 Revised: 04-03-31 Mrs6102GB.fm

The gun number allocated to the

Mrs6102GB.fm Revised: 04-03-31 Page 23

The sequence was untimely exe-

Page 24 Revised: 04-03-31 Mrs6102GB.fm

Mrs6102GB.fm Revised: 04-03-31 Page 25

SYSTEM Turn the power OFF then back ON.

Page 26 Revised: 04-03-31 Mrs6102GB.fm

Turn the power OFF then back ON after

Mrs6102GB.fm Revised: 04-03-31 Page 27

Page 28 Revised: 04-03-31 Mrs6102GB.fm

The signal does not have a