YASNAC MRC ver. 3.144B
Trouble Shooting Guide, YASNAC MRC
MOTOMAN
ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation
Notes
MOTOMAN
ROBOTICS
AB
Alarm 0010
Trouble Shooting YASNAC MRC
Page: 1
CPU Board Insertion Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
YES
Remove the SV board corresponding
to the display, and then re-install it
Resume use
Alarm
re-occurs?
YES
NO
Resume use
Remove the MCP01
board, and then re-install it
NO
Resume use
Alarm
re-occurs?
YES
Replace the ROM of the board
corresponding to the display
NO
Alarm
re-occurs?
YES
Replace the board
corresponding to the display
ROM failure
YES
Alarm
re-occurs?
Board failure
Replace all boards
NO
Board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 2
Alarm 0020
CPU Communication Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Resume use
Alarm
re-occurs?
YES
Remove the SV board corresponding
to the display, and then re-install it
Alarm
re-occurs?
YES
NO
Resume use
Remove all boards,
and then re-install them
NO
Alarm
re-occurs?
Resume use
YES
Replace the ROM of the board
corresponding to the display
NO
Alarm
re-occurs?
YES
Replace the board
corresponding to the display
ROM failure
YES
Alarm
re-occurs?
Board failure
Replace all boards
NO
Board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0030
Trouble Shooting YASNAC MRC
Page: 3
ROM Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Resume use
Alarm
re-occurs?
YES
Replace the ROM of the board
corresponding to the display
NO
ROM failure
Alarm
re-occurs?
YES
Replace the board
corresponding to the display
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Board failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 4
Alarm 0040
RAM Error (local)
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
Resume use
YES
Remove the board corresponding
to the display, and then re-install it
NO
Resume use
Alarm
re-occurs?
YES
Replace the board
corresponding to the display
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Board failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0050
Trouble Shooting YASNAC MRC
Page: 5
RTC Error)
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Resume use
Alarm
re-occurs?
YES
Remove the board corresponding
to the display, and then re-install it
NO
Resume use
Alarm
re-occurs?
YES
Replace the board
corresponding to the display
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Board failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 6
Alarm 0060
RAM Error (A-bus Common)
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
Resume use
YES
Remove the board corresponding
to the display, and then re-install it
YES
Alarm
re-occurs?
NO
Remove all boards
and re-install again
NO
Alarm
re-occurs?
Resume use
YES
Replace the board
corresponding to the display
Resume use
YES
Alarm
re-occurs?
Board failure
Replace all boards
NO
Alarm
re-occurs?
Board failure
Skapad: 98-10-09
NO
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0070
Trouble Shooting YASNAC MRC
Page: 7
RAM Error (D-Bus 2-Port)
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Resume use
Alarm
re-occurs?
YES
Remove the SV board corresponding
to the display, and then re-install it
YES
Alarm
re-occurs?
NO
Remove all boards
and re-install again
NO
Resume use
Alarm
re-occurs?
Resume use
YES
Replace the SV board
corresponding to the display
NO
Alarm
re-occurs?
SV board failure
YES
Replace the MCP02 board
YES
Alarm
re-occurs?
Replace all boards
NO
Board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Board failure
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 8
Alarm 0080
RAM Error (S-Bus 2-Port)
Alarm Occurrence
Turn power OFF,
and then ON again.
Alarm
re-occurs?
NO
Resume use
YES
Remove the board corresponding
to the display, and then re-install it
Alarm
re-occurs?
YES
NO
Remove MCP01
and re-install again
Alarm
re-occurs?
NO
Resume use
Resume use
YES
Replace the board
corresponding to the display
Alarm
re-occurs?
YES
Replace the MCP01 board
Alarm
re-occurs?
NO
MCP01 board failure
Skapad: 98-10-09
Ändrad: 98-11-26
NO
Board failure
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0090
Trouble Shooting YASNAC MRC
Page: 9
I/O Module Communication Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
YES
Confirm the setting
of the I/O module
Resume use
Alarm
re-occurs?
YES
NO
Resume use
Check the wiring of the cable
between MIF01 and MBB02
NO
Resume use
Alarm
re-occurs?
YES
Remove the I/O module corresponding
to the display, and then re-install it
Alarm
re-occurs?
YES
NO
Resume use
Replace the I/O module
NO
Alarm
re-occurs?
YES
Replace MIF01 board
I/O module
failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
MIF01 board failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 10
Alarm 0100
IAMP Communication Error
Alarm Occurrence
Turn power OFF,
and then ON again.
Alarm
re-occurs?
NO
Resume use
YES
Remove the cable connector
between the MSV board and IAMP
Alarm
re-occurs?
YES
Check the wiring of the cable
between MSV board and IAMP
Alarm
re-occurs?
NO
Resume use
YES
Resume use
Confirm the setting
of the servopack
Alarm
re-occurs?
YES
Replace the servopack
NO
Alarm
re-occurs?
NO
Resume use
YES
Replace the MSV board
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
NO
Ändrad: 98-11-26
Alarm
re-occurs?
NO
MSV board failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0110
Trouble Shooting YASNAC MRC
Page: 11
IAMP Parameter Modification Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Resume use
Alarm
re-occurs?
YES
Remove the cable connector between
the MSV board and IAMP and re-install
Alarm
re-occurs?
YES
NO
Check the wiring of the cable
between MSV board and IAMP
NO
Alarm
re-occurs?
Resume use
YES
Replace the servopack
Resume use
NO
Alarm
re-occurs?
YES
Replace the MSV board
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
MSV Board
failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 12
Alarm 0120
Encoder communication error
Alarm Occurrence
Turn power OFF,
and then ON again.
Resume use
NO
Alarm
re-occurs?
YES
Remove the cable connector
between encoder and IAMP,
and then re-install it
Remove the cable connector between
the MSV board and IAMP and re-install
Alarm
re-occurs?
YES
NO
Resume use
Resume use
NO
Alarm
re-occurs?
YES
Check the cable ground
between encoder and IAMP
Cable failure
NO
Remove the cable connector
between encoder and IAMP,
and then install to another axis
YES
Alarm
re-occurs?
Replace the
servopack
Alarm
re-occurs?
YES
NO
Check the wiring of the cable
between MSV board and IAMP
Cable failure
NO
YES
Alarm
re-occurs?
YES
Alarm
re-occurs?
Alarm
re-occurs?
YES
Replace the
MSV board
Contact
MOTOMAN-service
Reset the absolute
encoder
YES
Servopack
failure
Alarm
re-occurs?
YES
Replace the
motor
NO
NO
Resume use
Alarm
re-occurs?
NO
BSV Board
failure
Contact
MOTOMAN-service
NO
Motor failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0130
Trouble Shooting YASNAC MRC
Page: 13
Encoder Overspeed
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
Resume use
YES
After the motor stops,
control power ON.
YES
Alarm
re-occurs?
Reset the
absolute encoder
NO
Alarm
re-occurs?
Resume use
Resume use
YES
Replace
servo motor
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
NO
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Motor failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 14
Alarm 0131
Encoder Data Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
Resume use
YES
Reset the
absolute encoder
NO
Alarm
re-occurs?
YES
Replace the motor
Resume use
YES
Alarm
re-occurs?
Motor failure
Contact
MOTOMAN-service
Alarm 0132
NO
Encoder Back-up Error
Alarm Occurrence
Change the battery, reset the alarm
and then set home position
NO
Alarm
re-occurs?
Resume use
YES
Reset the
absolute encoder
NO
Alarm
re-occurs?
Replace the motor
Resume use
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Alarm
re-occurs?
NO
Motor failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0133
Trouble Shooting YASNAC MRC
Page: 15
Encoder Checksum Error
Alarm Occurrence
Change the battery, reset the alarm
and then set home position.
NO
Alarm
re-occurs?
Resume use
YES
Reset the
absolute encoder
NO
Alarm
re-occurs?
Resume use
Replace
servo motor
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Alarm
re-occurs?
NO
Motor failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 16
Alarm 0134
Encoder Battery Error
Alarm Occurrence
Change the battery
NO
Alarm
re-occurs?
Resume use
YES
Check
Internal wiring
YES
Alarm
re-occurs?
Resume use
Reset the
absolute encoder
NO
Alarm
re-occurs?
Resume use
YES
Replace the motor
YES
Alarm
re-occurs?
NO
Motor failure
Contact
MOTOMAN-service
Alarm 0135
NO
Encoder Overheat
Alarm Occurrence
After cooling, turn the
power ON again
NO
Alarm
re-occurs?
Resume use
Check
Internal wiring
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
YES
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Internal wire
failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0200
Trouble Shooting YASNAC MRC
Page: 17
Fault (Parameter)
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
YES
Resume use
Contact MOTOMANservice before
initializing the parameter file
Alarm 0210
Fault (System Config-Data)
Alarm Occurrence
Contact MOTOMANservice before
initializing the parameter file
Alarm 0220
Fault (Job Management Data)
Alarm Occurrence
Turn power OFF,
and then ON agian.
NO
Alarm
re-occurs?
Resume use
Initialize the job file
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
YES
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Job file destroyed
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 18
Alarm 0230
MOTOMAN
ROBOTICS
AB
Fault (CIO Ladder)
Alarm Occurrence
Initialize the
CIO Ladder
Alarm
re-occurs?
NO
YES
Contact
MOTOMAN-service
CIO Ladder
destroyed
Alarm 0300
Verify Error (System Config-Data)
Alarm Occurrence
Contact MOTOMANservice before
initializing the system config.
Alarm 0310
Verify Error (CMOS Memory Size)
Alarm Occurrence
Confirm the
extension CMOS board
NO
Alarm
re-occurs?
The extension CMOS
board is not mounted
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Contact MOTOMANservice before
initializing the system config.
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0320
Trouble Shooting YASNAC MRC
Page: 19
Verify Error (I/O module)
Alarm Occurrence
Remove the I/O-module that corresponds
to the display, then re-install the module
Alarm
re-occurs?
NO
YES
Resume use
Confirm the setting
of the I/O module
Alarm
re-occurs?
YES
Replace the I/O module
corresponding to the display
NO
Alarm
re-occurs?
I/O module failure
Alarm 0330
NO
Resume use
YES
Contact
MOTOMAN-service
Illegal Parameter
Alarm Occurrence
Reset original
parameter value
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 20
Alarm 0340
MOTOMAN
ROBOTICS
AB
Verify Error (Servopack Type)
Alarm Occurrence
Set the parameter to match the
mounted servopack type
NO
Alarm
re-occurs?
YES
Resume use
Contact MOTOMANservice before
initializing the system config.
Alarm 0350
Verify Error (Encoder Type)
Alarm Occurrence
Set the parameter to match the
mounted encoder type
NO
Alarm
re-occurs?
Resume use
Alarm 0360
YES
Contact MOTOMANservice before
initializing the system config.
Verify Error (Application)
Alarm Occurrence
Contact MOTOMAN-service
before initializing the system config.
Alarm 0370
Verify Error (Sensor Function)
Alarm Occurrence
Contact MOTOMAN-service
before initializing the system config.
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0400
Trouble Shooting YASNAC MRC
Page: 21
Parameter Transmission Error
Alarm Occurrence
Turn power OFF,
and then ON agian.
NO
Alarm
re-occurs?
Resume use
YES
Replace the board
corresponding to the display
NO
Alarm
re-occurs?
Board failure
Replace
all boards
YES
Contact
MOTOMAN-service
Alarm 0410
YES
Alarm
re-occurs?
NO
Board failure
Mode Change Error
Alarm Occurrence
Turn power OFF,
and then ON again.
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 22
MOTOMAN
ROBOTICS
AB
Alarm 0900 - 0920 Watch Dog Timer Error
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Remove the board corresponding to
the display, then re-install it
Resume use
Remove all boards,
then re-install them
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
NO
Resume use
YES
Resume use
Replace the EPROM of the board
corresponding to the display
Replace board
corresponding to the display
YES
Alarm
re-occurs?
NO
Alarm
re-occurs?
YES
NO
Replace all
boards
Board failure
Alarm
re-occurs?
EPROM failure
YES
NO
Contact
MOTOMAN-service
Board failure
AL-0900
MCP02
AL-0901
Skapad: 98-10-09
AL-0906
MCP01
AL-0914
MSV#5
AL-0907
MIF01
AL-0915
MSV#6
MSV#7
AL-0902
MSL#1
AL-0910
MSV#1
AL-0916
AL-0903
MSL#2
AL-0911
MSV#2
AL-0917
AL-0904
AL-0912
MSV#3
AL-0920
AL-0905
AL-0913
MSV#3
Ändrad: 98-11-26
MIF02
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 23
Alarm 0930 - 0937 Access Error
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Remove the board corresponding to
the display, then re-install it
Resume use
Remove all boards,
then re-install them
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
NO
Resume use
YES
Resume use
Replace the EPROM of the board
corresponding to the display
Replace board
corresponding to the display
YES
Alarm
re-occurs?
NO
Alarm
re-occurs?
YES
NO
Replace all
boards
Board failure
Alarm
re-occurs?
EPROM failure
YES
NO
Contact
MOTOMAN-service
Board failure
AL-0930
MIF02
AL-0931
AL-0932
Skapad: 98-10-09
AL-0933
AL-0934
MSL#1
Ändrad: 98-11-26
MSL#2
AL-0936
MCP01
AL-0937
MIF01
AL-0935
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 24
MOTOMAN
ROBOTICS
AB
Alarm 0940 - 0947 A-Bus Error
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Remove the board corresponding to
the display, then re-install it
Resume use
Remove all boards,
then re-install them
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
NO
Resume use
YES
Resume use
Replace the EPROM of the board
corresponding to the display
Replace board
corresponding to the display
YES
Alarm
re-occurs?
NO
Alarm
re-occurs?
YES
NO
Replace all
boards
Board failure
Alarm
re-occurs?
EPROM failure
YES
NO
Contact
MOTOMAN-service
Board failure
AL-0940
MIF02
AL-0941
AL-0942
Skapad: 98-10-09
AL-0943
AL-0944
MSL#1
Ändrad: 98-11-26
MSL#2
AL-0946
MCP01
AL-0947
MIF01
AL-0945
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 0999
Trouble Shooting YASNAC MRC
Page: 25
NMI Error
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
YES
NO
Resume use
Remove all boards
and then re-install them
Alarm
re-occurs?
YES
NO
Replace EPROM
of all boards
Resume use
Alarm
re-occurs?
NO
EPROM failure
Replace
all boards
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 26
Alarm 1010
MOTOMAN
ROBOTICS
AB
ROM Error (Syscon)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Remove the EPROM board on the
MCP01 board and then re-install them
Alarm
re-occurs?
YES
NO
Replace EPROM board
on the MCP01 board
Make sure connector has
no loose connections,
and then resume use
Alarm
re-occurs?
NO
MMM02 failure
Replace MCP01
board
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 1020
Trouble Shooting YASNAC MRC
Page: 27
ROM Error (Motion)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Remove the EPROM board on the
MCP02 board and then re-install them
Alarm
re-occurs?
YES
NO
Replace EPROM board
on the MCP02 board
Make sure connector has
no loose connections,
and then resume use
Alarm
re-occurs?
NO
MMM04 failure
Replace MCP02
board
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 28
Alarm 1030
ROM Error (CIO)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
YES
NO
Resume use
Remove the EPROM board on the
MIF01 board and then re-install them
Alarm
re-occurs?
YES
NO
Replace EPROM board
on the MCP01 board
Make sure connector has
no loose connections,
and then resume use
Alarm
re-occurs?
NO
EPROM failure
Replace MIF01
board
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 1040
Page: 29
System Error (Syscon)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Replace MCP01
board
Alarm
re-occurs?
YES
NO
Contact
MOTOMAN-service
Board failure
1
Skapad: 98-10-09
6
Multi Task Specification Error
2
Motion Interrupt Not Done
7
Lack of Command Saving Area
3
Syscon Error
8
EMS Error
4
Command Processing
9
5
Undefined Interrupt
10
Ändrad: 98-11-26
SL Interrupt Not Done
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 30
Alarm 1050
ROM Error (Sensor)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Remove the EPROM board on the
MSL board and then re-install it
Alarm
re-occurs?
YES
NO
Replace EPROM board
on the MSL board
Make sure connector has
no loose connections,
and then resume use
Alarm
re-occurs?
NO
YES
EPROM failure
Replace MSL board
corresponding to the display
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 1060
Trouble Shooting YASNAC MRC
Page: 31
System Error (CIO)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Replace MIF01
board
Alarm
re-occurs?
NO
Contact
MOTOMAN-service
Board failure
01
05
Command Error SYSCONCIO
02
06
System Error
04
Skapad: 98-10-09
YES
FA Communication Bus Error
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 32
Alarm 1070
MOTOMAN
ROBOTICS
AB
Fault (Parameter)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
YES
NO
Resume use
Initialize
the parameter file
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact MOTOMANservice before
initializing the system config.
Board failure
0
RC parameters
8
AP parameters
1
RO parameters
9
RS parameters
2
SV paramerters
10
SP parameters
3
SVM parameters
11
CM parameters
4
SC parameters
12
SE parameters
5
SD parameters
13
VC parameters
6
CIO parameters
14
RSM parameters
7
FD parameters
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 1080
Trouble Shooting YASNAC MRC
Page: 33
Fault (Job data)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
YES
NO
Resume use
Initialize
the job file
Alarm
re-occurs?
Alarm 1090
YES
NO
Contact MOTOMANservice before
initializing the system config.
Job file destroyed
File Failure (Motion)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Contact MOTOMANservice before
initializing the system config.
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 34
Alarm 1100
File Total Checksum Error (Motion)
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Resume use
Replace MCP02
board
Alarm
re-occurs?
Alarm 1110
YES
NO
Contact
MOTOMAN-service
Board failure
Set-up Process Error (Syscon)
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Resume use
Replace MCP02
board
Alarm
re-occurs?
1
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
Motion Section Set-up incomplete
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 1120
Trouble Shooting YASNAC MRC
Page: 35
Wrong Segment Clock Value
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Resume use
Reset phase offset
data file
Alarm
re-occurs?
Alarm 1130
YES
NO
Contact
MOTOMAN-service
CMOS file breakdown
MMM Error
Turn power OFF,
and then ON agian.
Alarm Occurrence
Alarm
re-occurs?
NO
YES
Resume use
Contact
MOTOMAN-service
0
1
Process Definition Table Not Set
2
Entry Table Overflow
Skapad: 98-10-09
Ändrad: 98-11-26
3
Process Not Set
4
Process Control Code Not Set
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 36
Alarm 1140
MOTOMAN
ROBOTICS
AB
MMM Error
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Contact
MOTOMAN-service
Alarm 1150
Fault
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 1160
Trouble Shooting YASNAC MRC
Page: 37
High Temperature (in Control Box)
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Turn the power off, let the controller
cool inside, and then turn power on again
Alarm
re-occurs?
YES
NO
Check movement of cooling fan
Resume use
Alarm
re-occurs?
YES
NO
Check wiring cooling fan
Faulty?
YES
NO
Replace fan
Replace power unit
(CPS-18F)
Contact
MOTOMAN-service
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
Fan failure
NO
Power unit failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 38
Alarm 1170
Overrun Limit Switch Released
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Check the
OVERRUN RECOVERY
switch
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Switch failure
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Trouble Shooting YASNAC MRC
Page: 39
Alarm 1180 - 1186 Servo Monitor System Error
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Replace MSV board
corresponding to the display
Alarm
re-occurs?
YES
NO
Board failure
Replace MCP01 board
Alarm
re-occurs?
NO
YES
Board failure
Replace MCP02 board
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
AL-1180
MSV#1
AL-1183
MSV#4
AL-1181
MSV#2
AL-1184
MSV#5
AL-1182
MSV#3
AL-1185
MSV#6
Ändrad: 98-11-26
AL-1186
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 40
Alarm 1190 - 1196 Servo System Error
Alarm Occurrence
Turn power OFF,
and then ON agian.
Alarm
re-occurs?
NO
YES
Resume use
Replace MSV board
corresponding to the display
Alarm
re-occurs?
YES
NO
Board failure
Replace MCP01 board
Alarm
re-occurs?
NO
YES
Board failure
Replace MCP02 board
Alarm
re-occurs?
Skapad: 98-10-09
YES
NO
Contact
MOTOMAN-service
Board failure
AL-1190
MSV#1
AL-1193
MSV#4
AL-1191
MSV#2
AL-1194
MSV#5
AL-1192
MSV#3
AL-1195
MSV#6
Ändrad: 98-11-26
AL-1196
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 41
Alarm 1200 - 1206 Overcurrent
Alarm Occurrence
Condition
at the time
of alarm?
At control
power ON
Replace servopack
corresponding to the display
Running
Alarm
re-occurs?
Check first
grounding terminal
Go to
point
A
NO
YES
Contact
MOTOMAN-service
At servo
power ON
Servopack
failure
Faulty
grounding
YES
NO
Replace servopack
corresponding
to the display
B
Check second
ground terminal
Alarm
re-occurs?
NO
Faulty
grounding
YES
NO
Check
internal wiring
NO
Servopack
failure
Replace motor
corresponding
to the display
Alarm
re-occurs?
YES
YES
Contact
MOTOMAN-service
Alarm
re-occurs?
NO
YES
Internal wiring
failure
Servomotor
failure
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 42
MOTOMAN
ROBOTICS
AB
Alarm 1200 - 1206 Overcurrent (...continued)
A
Check movement of
servopack cooling fan
Abnormal?
YES
NO
Replace
cooling fan
Check
robot load
Alarm
re-occurs?
Fan
failure
NO
Load
condition?
OK
YES
Overload
Alarm
occurs at a
specific point?
Contact
MOTOMAN-service
Decrease
weight
NO
YES
Check first
grounding terminal
YES
Faulty
grounding
NO
NO
Servopack
failure
Go to
point
B
Replace servopack
corresponding
to the display
Alarm
re-occurs?
YES
Skapad: 98-10-09
Contact
MOTOMAN-service
AL-1200
MSV#1
AL-1203
MSV#4
AL-1201
MSV#2
AL-1204
MSV#5
AL-1202
MSV#3
AL-1205
MSV#6
Ändrad: 98-11-26
AL-1206
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 43
Alarm 1210 - 1216 MCCB Tripped
Alarm Occurrence
At control
power ON
Condition
at the time
of alarm?
Turn ON the
MCCB
Alarm
re-occurs?
YES
NO
At servo
power ON
Running
Check first
grounding terminal
Resume use
Go to
point
A
Replace servopack
corresponding to the display
Alarm
re-occurs?
Servopack
failure
NO
Faulty
grounding
Replace servopack
corresponding
to the display
YES
B
Contact
MOTOMAN
service
YES
NO
Check second
ground terminal
Alarm
re-occurs?
NO
Faulty
grounding
YES
NO
Replace
internal wiring
YES
NO
Servopack
failure
Replace motor
corresponding
to the display
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Alarm
re-occurs?
NO
Internal wiring
failure
YES
Motor failure
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 44
MOTOMAN
ROBOTICS
AB
Alarm 1210 - 1216 MCCB Tripped (...continued)
A
Check
robot load
Load
condition?
OK
Overload
Alarm
occurs at a
specific point?
Decrease
weight
NO
YES
Check first
grounding terminal
YES
Faulty
grounding
NO
NO
Servopack
failure
Go to
point
B
Replace servopack
corresponding
to the display
Alarm
re-occurs?
YES
Skapad: 98-10-09
Contact
MOTOMAN-service
AL-1210
MSV#1
AL-1213
MSV#4
AL-1211
MSV#2
AL-1214
MSV#5
AL-1212
MSV#3
AL-1215
MSV#6
Ändrad: 98-11-26
AL-1216
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 45
Alarm 1220 - 1226 Ground Fault
Alarm Occurrence
Condition
at the time
of alarm?
At control
power ON
Replace servopack
corresponding to the display
Running
Alarm
re-occurs?
Check first
grounding terminal
Go to
point
A
NO
YES
Contact
MOTOMAN-service
At servo
power ON
Servopack
failure
Faulty
grounding
YES
NO
Replace servopack
corresponding
to the display
Check second
ground terminal
Alarm
re-occurs?
NO
Faulty
grounding
YES
NO
Check
internal wiring
NO
Servopack
failure
Replace motor
corresponding
to the display
Alarm
re-occurs?
YES
YES
Contact
MOTOMAN-service
Alarm
re-occurs?
NO
YES
Internal wiring
failure
Servo motor
failure
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 46
Alarm 1220 - 1226 Ground Fault (...continued)
A
Alarm
occurs at a
specific point?
NO
YES
Check first
grounding terminal
Faulty
grounding
Check second
ground terminal
NO
YES
Faulty
grounding
YES
Replace servopack
corresponding
to the display
NO
Check
internal wiring
Alarm
re-occurs?
NO
YES
Internal wiring
failure
Replace motor
corresponding
to the display
Contact
MOTOMAN-service
Alarm
re-occurs?
Alarm
re-occurs?
YES
NO
Contact
MOTOMAN-service
Skapad: 98-10-09
Servopack
failure
NO
YES
Motor
failure
Contact
MOTOMAN-service
AL-1220
MSV#1
AL-1223
MSV#4
AL-1221
MSV#2
AL-1224
MSV#5
AL-1222
MSV#3
AL-1225
MSV#6
Ändrad: 98-11-26
AL-1226
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 47
Alarm 1230 - 1236 Defective Current Offset
Alarm Occurrence
Replace servopack
corresponding to the display
Alarm
re-occurs?
Skapad: 98-10-09
NO
YES
Servopack
failure
Contact
MOTOMAN-service
AL-1230
MSV#1
AL-1233
MSV#4
AL-1231
MSV#2
AL-1234
MSV#5
AL-1232
MSV#3
AL-1235
MSV#6
Ändrad: 98-11-26
AL-1236
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 48
Alarm 1240- 1246 Encoder Transmission Error
Turn power OFF,
and then ON again.
Alarm Occurrence
Alarm
re-occurs?
Remove the cable between MSV
board and IAMP, then re-install it
YES
NO
Resume use
Remove the cable between
encoder and IAMP, then re-install it
Resume use
NO
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
YES
Resume use
Check the cable ground
between encoder and IAMP
Remove the cable between the
encoder and IAMP, then
install connector from another axis
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
YES
Check the cable
between encoder and IAMP
Alarm
re-occurs?
NO
NO
Servopack failure
Reset absolute
encoder
Replace the servopack
Cable failure
NO
Alarm
re-occurs?
YES
Alarm
re-occurs?
YES
NO
Replace the
servomotor
Replace MSV board
Alarm
re-occurs?
NO
YES
Board failure
Alarm
re-occurs?
NO
Resume use
YES
Motor failure
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-1240
MSV#1
AL-1243
MSV#4
AL-1241
MSV#2
AL-1244
MSV#5
AL-1242
MSV#3
AL-1245
MSV#6
Ändrad: 98-11-26
AL-1246
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Trouble Shooting YASNAC MRC
Page: 49
Alarm 1250 - 1256 Defective Encoder Internal Data
Alarm Occurrence
Turn power OFF,
and then ON again.
Alarm
re-occurs?
NO
YES
Resume use
Reset absolute encoder
corresponding to the displayed axis
Alarm
re-occurs?
YES
NO
Replace motor corresponding
to the displayed axis
Resume use
Alarm
re-occurs?
NO
YES
Motor failure
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-1250
MSV#1
AL-1253
MSV#4
AL-1251
MSV#2
AL-1254
MSV#5
AL-1252
MSV#3
AL-1255
MSV#6
Ändrad: 98-11-26
AL-1256
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 50
Alarm 1260 - 1266 Defective Encoder Absolute Data
Alarm Occurrence
Turn power OFF,
and then ON again.
Alarm
re-occurs?
NO
YES
Resume use
Reset absolute encoder
corresponding to the displayed axis
Alarm
re-occurs?
YES
NO
Replace motor corresponding
to the displayed axis
Resume use
Alarm
re-occurs?
NO
YES
Motor failure
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-1260
MSV#1
AL-1263
MSV#4
AL-1261
MSV#2
AL-1264
MSV#5
AL-1262
MSV#3
AL-1265
MSV#6
Ändrad: 98-11-26
AL-1266
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 51
Alarm 1270 - 1276 Encoder Overheat
Alarm Occurrence
Condition
at the time
of alarm?
At control
power ON
Running
If motor has cooling
fan check if fan is
working
A
Check
Robot load
Reset absolute encoder
corresponding to the
displayed axis
NO
YES
Load
condition?
Check
wiring
Overload
Alarm
re-occurs?
YES
NO
Abnormal?
Decrease
weight
Resume use
Faulty
wiring?
NO
Replace internal
wiring
Replace motor
Alarm
re-occurs?
Replace
cooling fan
YES
NO
YES
Alarm
re-occurs?
NO
Alarm
re-occurs?
YES
Motor failure
Fan
failure
Contact
MOTOMAN-service
Skapad: 98-10-09
Go to
point
A
AL-1270
MSV#1
AL-1273
MSV#4
AL-1271
MSV#2
AL-1274
MSV#5
AL-1272
MSV#3
AL-1275
MSV#6
Ändrad: 98-11-26
Internal wiring
failure
NO
AL-1276
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 52
Alarm 1280- 1286 Servo Monitor Transmission Error
Alarm Occurrence
Turn power OFF,
and then ON again.
Alarm
re-occurs?
NO
YES
Resume use
Remove the cable between MSV
board and IAMP, then re-install it
Alarm
re-occurs?
YES
NO
Check the cable wiring
between MSV board and IAMP
Resume use
Faulty
wiring
YES
NO
Replace cable
Replace the
servopack
Alarm
re-occurs?
YES
Alarm
re-occurs?
NO
YES
NO
Cable failure
Replace MSV board
Servopack failure
Skapad: 98-10-09
Alarm
re-occurs?
YES
NO
Contact
MOTOMAN-service
Board failure
AL-1280
MSV#1
AL-1283
MSV#4
AL-1281
MSV#2
AL-1284
MSV#5
AL-1282
MSV#3
AL-1285
MSV#6
Ändrad: 98-11-26
AL-1286
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Trouble Shooting YASNAC MRC
Page: 53
Alarm 1290 -1296 Servo CPU Synchronizing Error
Alarm Occurrence
Replace MSV board
Alarm
re-occurs?
NO
YES
Board failure
Contact
MOTOMAN-service
AL-1290
MSV#1
AL-1293
MSV#4
AL-1291
MSV#2
AL-1294
MSV#5
AL-1292
MSV#3
AL-1295
MSV#6
AL-1296
MSV#7
AL-1306
MSV#7
Alarm 1300 -1306 DSP Program Checksum Error
Alarm Occurrence
Replace MSV board
Alarm
re-occurs?
NO
YES
Board failure
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-1300
MSV#1
AL-1303
MSV#4
AL-1301
MSV#2
AL-1304
MSV#5
AL-1302
MSV#3
AL-1305
MSV#6
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 54
MOTOMAN
ROBOTICS
AB
Alarm 1310 -1316 Mon Pgrm Total Checksum Error
Alarm Occurrence
Replace MSV board
Alarm
re-occurs?
NO
YES
Board failure
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-1310
MSV#1
AL-1313
MSV#4
AL-1311
MSV#2
AL-1314
MSV#5
AL-1312
MSV#3
AL-1315
MSV#6
Ändrad: 98-11-26
AL-1316
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 55
Alarm 1320- 1326 Servopack Failure
Alarm Occurrence
Turn power OFF,
and then ON again.
Alarm
re-occurs?
NO
YES
Resume use
Remove the cable between MSV
board and IAMP, then re-install it
Alarm
re-occurs?
YES
NO
Check the cable wiring
between MSV board and IAMP
Resume use
Faulty
wiring
YES
NO
Replace cable
Replace the
servopack
Alarm
re-occurs?
YES
Alarm
re-occurs?
NO
YES
NO
Cable failure
Replace MSV board
Servopack failure
Skapad: 98-10-09
Alarm
re-occurs?
YES
NO
Contact
MOTOMAN-service
Board failure
AL-1320
MSV#1
AL-1323
MSV#4
AL-1321
MSV#2
AL-1324
MSV#5
AL-1322
MSV#3
AL-1325
MSV#6
Ändrad: 98-11-26
AL-1326
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 56
Alarm 1330- 1336 Position Error
Alarm Occurrence
Condition
at the time
of alarm?
At control
power ON
Go to
point
A
Running
At servo
power ON
Replace the cable between
encoder and IAMP with a
cable from another axis
Moved to
another axis?
NO
Replace MSV board
YES
Alarm
re-occurs?
Check wiring
YES
NO
Board failure
Faulty
wiring
YES
NO
Replace cable
Alarm
re-occurs?
YES
NO
Replace the
servo motor
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Cable failure
NO
Motor failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 57
Alarm 1330- 1336 Position Error (... continued)
A
Is there a
noise source
around?
NO
YES
Remove the
noise source
Alarm
re-occurs?
YES
NO
Resume use
Check wiring
Faulty
wiring
YES
Replace cable
Replace the
servo motor
YES
Alarm
re-occurs?
NO
NO
Alarm
re-occurs?
Motor failure
Cable failure
YES
Replace MSV board
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
NO
Board failure
Skapad: 98-10-09
AL-1330
MSV#1
AL-1333
MSV#4
AL-1331
MSV#2
AL-1334
MSV#5
AL-1332
MSV#3
AL-1335
MSV#6
Ändrad: 98-11-26
AL-1336
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 58
Alarm 1340- 1346 Overload 1
Alarm Occurrence
Condition
at the time
of alarm?
At control
power ON
Replace MSV board
Right away
Running
How long
after Servo ON
does alarm
occur?
After several
minutes
Check for
interference
Check
Robot load
Load
condition?
Interference?
YES
NO
Overload
OK
Modify
teaching
Alarm
re-occurs?
Reduce
load
YES
NO
Check
motor wiring
Faulty
wiring
NO
Teaching error
YES
Alarm
re-occurs?
Go to
point
A
Replace wiring
NO
YES
Alarm
re-occurs?
Board failure
YES
NO
Contact
MOTOMAN-service
Cable failure
Skapad: 98-10-09
AL-1340
MSV#1
AL-1343
MSV#4
AL-1341
MSV#2
AL-1344
MSV#5
AL-1342
MSV#3
AL-1345
MSV#6
Ändrad: 98-11-26
AL-1346
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 59
Alarm 1340- 1346 Overload 1 (...continued)
Is brake
release
audiable?
NO
A
Check
brake circuit
YES
Input voltage
abnormal
Abnormal
condition?
NO
Input voltage
normal
Check brake
lead wiring
Replace SVM
Faulty
wiring
Replace MTU board
NO
Alarm
re-occurs?
YES
NO
Check
motor brake
Replace wiring
YES
Resume use
Alarm
re-occurs?
Alarm
re-occurs?
NO
YES
YES
NO
Resume use
Contact
MOTOMAN-service
Resume use
NO
Check if
mechanically locked
YES
Replace the
servo motor
Movable?
NO
Defective?
Alarm
re-occurs?
Fix mechanical
problem
YES
YES
NO
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Resume use
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 60
Alarm 1350- 1356 Overload 2
Alarm Occurrence
Condition
at the time
of alarm?
At control
power ON
Replace MSV board
Right away
Running
How long
after Servo ON
does alarm
occur?
After several
minutes
Check for
interference
Check
robot load
Interference?
Load
condition?
YES
NO
Overload
OK
Modify
teaching
Alarm
re-occurs?
Reduce
load
YES
NO
Check
motor wiring
Faulty
wiring
NO
Teaching error
YES
Alarm
re-occurs?
Go to
point
A
Replace wiring
NO
YES
Alarm
re-occurs?
Board failure
YES
NO
Contact
MOTOMAN-service
Cable failure
Skapad: 98-10-09
AL-1350
MSV#1
AL-1353
MSV#4
AL-1351
MSV#2
AL-1354
MSV#5
AL-1352
MSV#3
AL-1355
MSV#6
Ändrad: 98-11-26
AL-1356
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 61
Alarm 1350- 1356 Overload 2 (...continued)
Is brake
release
audiable?
NO
A
Check
brake circuit
YES
Input voltage
abnormal
Abnormal
condition?
Replace MTU board
NO
Output voltage
abnormal
Check brake
lead wiring
Replace SVM
Faulty
wiring
NO
Alarm
re-occurs?
YES
NO
Check
motor brake
Replace wiring
YES
Resume use
Alarm
re-occurs?
Alarm
re-occurs?
NO
YES
YES
NO
Resume use
Contact
MOTOMAN-service
Resume use
NO
Check if
mechanically locked
YES
Replace the
servo motor
Movable?
NO
Defective?
Alarm
re-occurs?
Fix mechanical
problem
YES
YES
NO
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Resume use
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 62
Alarm 1360-1366
Broken PG Line
Alarm Occurrence
At control
power on
Condition
at the time
of alarm?
Replace cable between encoder &
IAMP with cable from another axis
At servo
power on
Move to
other axis?
Replace MSV
board
NO
YES
Alarm
re-occurs?
Running
1
YES
Check wiring
NO
MSV board failure
Faulty
wiring?
YES
Replace servopack
Alarm
re-occurs?
Replace cable
YES
NO
Replace motor
YES
NO
Alarm
re-occurs?
Servopack failure
Replace cable between
IAMP and MSV
Alarm
re-occurs?
NO
NO
YES
Cable failure
Cable failure
Replace motor
Alarm
re-occurs?
NO
Motor failure
Alarm
re-occurs?
NO
YES
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Motor failure
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 1360-1366
Page: 63
Broken PG Line (...continued)
1
Is there a noise
source around?
YES
Remove noise
source
YES
Alarm
re-occurs?
NO
Check wiring
Faulty
wiring?
YES
NO
Resume use
NO
Cable failure
Replace cable
NO
Alarm
re-occurs?
YES
Replace motor
Alarm
re-occurs?
YES
NO
MSV board failure
Alarm
re-occurs?
NO
YES
Motor failure
Replace servopack
MSV board failure
Alarm
re-occurs?
YES
NO
Servopack failure
Replace cable between
IAMP and MSV
NO
Alarm
re-occurs?
Cable failure
YES
Replace motor
YES
Alarm
re-occurs?
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-1360
MSV#1
AL-1363
MSV#4
AL-1361
MSV#2
AL-1364
MSV#5
AL-1362
MSV#3
AL-1365
MSV#6
Ändrad: 98-11-26
AL-1366
NO
Motor failure
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 64
Alarm 1370-1376
Over Speed
Alarm Occurrence
Is there a noise
source around?
NO
Check wiring
YES
Faulty
wiring?
NO
YES
Alarm
re-occurs?
Condition at the
time of alarm
Replace cable
Alarm
re-occurs?
NO
Resume use
At servo
power on
1
Remove noise
source
YES
Running
At servo
power on
NO
Cable failure
1
NO
Alarm occurs
at specific point?
YES
YES
1
NO
Replace MSV board
Alarm
re-occurs?
YES
MSV board failure
NO
YES
Point of alarm
taught by MOVJ?
Reduce speed
YES
Multiple axes
moving at the
same time?
Replace motor
NO
Alarm
re-occurs?
NO
Motor failure
Alarm
re-occurs?
YES
1
YES
NO
Contact
MOTOMAN-service
Skapad: 98-10-09
Resume use
AL-1370
MSV#1
AL-1373
MSV#4
AL-1371
MSV#2
AL-1374
MSV#5
AL-1372
MSV#3
AL-1375
MSV#6
Ändrad: 98-11-26
AL-1376
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 1380-1386
Page: 65
Servo Tracking Error
Alarm Occurrence
Condition at the
time of alarm?
Running
Check if robot interferes
with work or fixture
At control
power on
Modify teaching
YES
Interference?
NO
Alarm
re-occurs?
YES
Check motor
wiring
OK
Check load
Load
condition?
NO
Overload
Teaching error
Decrease weight
Replace MSV board
Alarm
re-occurs?
Faulty
wiring?
NO
NO
1
YES
1
YES
YES
MSV board failure
Replace wiring
harness
Contact
MOTOMAN-service
Alarm
re-occurs?
NO
Wiring failure
Skapad: 98-10-09
AL-1380
MSV#1
AL-1383
MSV#4
AL-1381
MSV#2
AL-1384
MSV#5
AL-1382
MSV#3
AL-1385
MSV#6
Ändrad: 98-11-26
AL-1386
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 66
Alarm 1380-1386
Servo Tracking Error (...continued)
1
Is brake
release audible?
NO
YES
Check brake
circuit
Abnormal
condition?
Input voltage
abnormal
Replace
MTU board
Output voltage
abnormal
Replace SVM
Alarm
re-occurs?
NO
Resume use
Alarm
re-occurs?
YES
Check brake
lead wiring
Faulty
wiring?
NO
NO
YES
Alarm
re-occurs?
YES
Resume use
NO
Resume use
Contact
MOTOMAN-service
Check if mechanically
locked
NO
Alarm
re-occurs?
NO
Defective?
YES
Movable?
Replace motor
Fix mechanical
problem
Skapad: 98-10-09
Check motor
brake
Replace wiring
harness
Contact
MOTOMAN
service
YES
NO
YES
YES
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
NO
Resume use
Resume use
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 67
Alarm 1390-1396 Speed (Monitor)
Alarm Occurrence
Is there a noise
source around?
NO
Check wiring
YES
Remove noise
source
Alarm
re-occurs?
YES
Faulty
wiring?
Resume use
NO
At control
power on
1
YES
Condition at the
time of alarm?
Replace cable
Alarm
re-occurs?
NO
Running
At servo
power on
NO
Cable failure
1
NO
Alarm occurs
at specific point?
YES
YES
1
NO
Replace
MSV board
Point of alarm
taught by MOVJ
YES
Alarm
re-occurs?
NO
MSV board
failure
YES
Multiple axes
moving at the
same time?
Replace motor
NO
Reduce speed
Alarm
re-occurs?
NO
Alarm
re-occurs?
Motor failure
YES
NO
Contact
MOTOMAN
service
Resume use
Skapad: 98-10-09
AL-1390
MSV#1
AL-1393
MSV#4
AL-1391
MSV#2
AL-1394
MSV#5
AL-1392
MSV#3
AL-1395
MSV#6
Ändrad: 98-11-26
YES
YES
AL-1396
1
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 68
Alarm 3000-3006
Not Ready For Servo System
Alarm Occurrence
Turn the power off
and then on again
Resume use
Alarm
re-occurs?
NO
YES
Check
MTU board
NO
Defective?
NO
Is SVM
working?
Defective?
Alarm
re-occurs?
Replace
MTU board
YES
Check primary
power voltage
Replace SVM
YES
Alarm
re-occurs?
YES
YES
YES
Primary power
failure
1
NO
NO
Resume use
Check cable between
servopack and MSV board
YES
1
Defective?
NO
1
Replace cable
NO
Resume use
Alarm
re-occurs?
YES
1
NO
Cable failure
Skapad: 98-10-09
AL-3000
MSV#1
AL-3003
MSV#4
AL-3001
MSV#2
AL-3004
MSV#5
AL-3002
MSV#3
AL-3005
MSV#6
Ändrad: 98-11-26
AL-3006
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 3000-3006
Page: 69
Not Ready For Servo System (...continued)
1
Check cable between
servopack and SVM
Defective?
YES
Replace cable
NO
Replace
servopack
YES
Alarm
re-occurs?
Alarm
re-occurs?
YES
Replace
MSV board
Alarm
re-occurs?
NO
Servopack
failure
NO
Cable failure
YES
Contact
MOTOMAN
service
NO
MSV board
failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 70
Alarm 3010-3016
Servo Defective Speed
Alarm Occurrence
Are you trying to
turn power on while
axis is moving
YES
Try power on while
axis is stopped
NO
Replace
MSV board
YES
Alarm
re-occurs?
Alarm
re-occurs?
NO
MSV board
failure
NO
Resume use
YES
Contact
MOTOMAN
service
Skapad: 98-10-09
AL-3010
MSV#1
AL-3013
MSV#4
AL-3011
MSV#2
AL-3014
MSV#5
AL-3012
MSV#3
AL-3015
MSV#6
Ändrad: 98-11-26
AL-3016
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 3020-3026
Page: 71
Servo Defective DB
Alarm Occurrence
Turn the power off
and then on again
Alarm
re-occurs?
YES
Replace servopack
Alarm
re-occurs?
NO
NO
Servopack
failure
NO
MSV board
failure
Resume use
YES
Replace
MSV board
Alarm
re-occurs?
YES
Contact
MOTOMAN
service
Skapad: 98-10-09
AL-3020
MSV#1
AL-3023
MSV#4
AL-3021
MSV#2
AL-3024
MSV#5
AL-3022
MSV#3
AL-3025
MSV#6
Ändrad: 98-11-26
AL-3026
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 72
Alarm 3030-3036
Regenerative Trouble
Alarm Occurrence
At servo
power on
Condition at the
time of alarm?
At control
power on
Replace
servopack
Alarm
re-occurs?
Check regeneration
resistor
NO
YES
Defective?
Contact
MOTOMAN-service
Replace regeneration
resistor
YES
YES
Alarm
re-occurs?
NO
NO
Servopack
failure
Regeneration
resistor failure
Skapad: 98-10-09
AL-3030
MSV#1
AL-3033
MSV#4
AL-3031
MSV#2
AL-3034
MSV#5
AL-3032
MSV#3
AL-3035
MSV#6
Ändrad: 98-11-26
AL-3036
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 3040-3046
Page: 73
Overvoltage
Alarm Occurrence
Condition at the
time of alarm?
At servo
power on
At control
power on
Check primary
power voltage
Abnormal?
Primary power
failure
YES
NO
Check regeneration
resistor
Replace
servopack
NO
Alarm
re-occurs?
YES
Defective?
Replace regeneration
resistor
YES
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
NO
Servopack
failure
Regeneration
resistor failure
Skapad: 98-10-09
AL-3040
MSV#1
AL-3043
MSV#4
AL-3041
MSV#2
AL-3044
MSV#5
AL-3042
MSV#3
AL-3045
MSV#6
Ändrad: 98-11-26
AL-3046
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 74
Alarm 3050-3056
Voltage Drop
Alarm Occurrence
At servo
power on
Condition at the
time of alarm?
At control
power on
Check primary
power voltage
Replace
servopack
NO
Alarm
re-occurs?
YES
Abnormal?
YES
Primary power
failure
Contact
MOTOMAN-service
NO
Servopack
failure
Skapad: 98-10-09
AL-3050
MSV#1
AL-3053
MSV#4
AL-3051
MSV#2
AL-3054
MSV#5
AL-3052
MSV#3
AL-3055
MSV#6
Ändrad: 98-11-26
AL-3056
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 3060-3066
Page: 75
Heat sink overheat
Alarm Occurrence
At servo
power on
Condition at the
time of alarm?
At control
power on
Check primary
power voltage
Replace
servopack
NO
Alarm
re-occurs?
YES
Abnormal?
YES
Primary power
failure
Contact
MOTOMAN-service
NO
Servopack
failure
Skapad: 98-10-09
AL-3060
MSV#1
AL-3063
MSV#4
AL-3061
MSV#2
AL-3064
MSV#5
AL-3062
MSV#3
AL-3065
MSV#6
Ändrad: 98-11-26
AL-3066
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 76
Alarm 3070-3076
Servo Blown Fuse
Alarm Occurrence
At servo
power on
Condition at the
time of alarm?
At control
power on
Replace
servopack
Alarm
re-occurs?
Check motor
cable
NO
YES
Abnormal?
Contact
MOTOMAN-service
YES
Replace wiring
harness
Alarm
re-occurs?
YES
NO
NO
Servopack
failure
Wiring failure
Skapad: 98-10-09
AL-3070
MSV#1
AL-3073
MSV#4
AL-3071
MSV#2
AL-3074
MSV#5
AL-3072
MSV#3
AL-3075
MSV#6
Ändrad: 98-11-26
AL-3076
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Trouble Shooting YASNAC MRC
Page: 77
Alarm 3080-3086 Broken Current Ref Cable
Alarm Occurrence
Check cable between
servopack and MSV board
Defective?
YES
Replace cable
Replace
servopack
YES
Alarm
re-occurs?
Alarm
re-occurs?
YES
Replace
MSV board
NO
NO
Alarm
re-occurs?
Servopack
failure
NO
Cable failure
YES
Contact
MOTOMAN-service
NO
MSV board
failure
Skapad: 98-10-09
AL-3080
MSV#1
AL-3083
MSV#4
AL-3081
MSV#2
AL-3084
MSV#5
AL-3082
MSV#3
AL-3085
MSV#6
Ändrad: 98-11-26
AL-3086
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 78
Alarm 3090-3096
MOTOMAN
ROBOTICS
AB
Open Phase
Alarm Occurrence
Check primary
power voltage
Abnormal?
YES
NO
Check if contactor
is stuck or not
Abnormal?
Primary power
failure
Replace
contactor
YES
Alarm
re-occurs?
NO
Check cable for
SVM contactor
Replace cable
YES
YES
NO
Abnormal?
Contactor
failure
NO
Alarm
re-occurs?
YES
Replace
servopack
Alarm
re-occurs?
NO
YES
Replace
MSV board
Cable failure
NO
Abnormal?
Servopack
failure
YES
NO
MSV board
failure
Contact
MOTOMAN-service
Skapad: 98-10-09
AL-3090
MSV#1
AL-3093
MSV#4
AL-3091
MSV#2
AL-3094
MSV#5
AL-3092
MSV#3
AL-3095
MSV#6
Ändrad: 98-11-26
AL-3096
MSV#7
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4000
Page: 79
Not Ready
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4010
YES
Contact
MOTOMAN-service
Current Position Set Program Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4020
YES
Contact
MOTOMAN-service
Servo Power On Sequence Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 80
Alarm 4030
Servo Power Off Sequence Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4040
YES
Contact
MOTOMAN-service
Home Calibration Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4050
YES
Contact
MOTOMAN-service
Absolute Data Change Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4060
Page: 81
Segment Data Output Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4070
YES
Contact
MOTOMAN-service
Axis Parameter Error
Alarm Occurrence
Initialize parameter
setting
NO
Alarm
re-occurs?
Resume use
Alarm 4080
YES
Contact
MOTOMAN-service
Table Parameter Error For Actual Axis
Alarm Occurrence
Initialize parameter
setting
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 82
Alarm 4090
Sequence Task Control Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4100
YES
Contact
MOTOMAN-service
Data Refresh Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4110
YES
Contact
MOTOMAN-service
Undefined Command (Arith)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4120
Page: 83
System Error (Arith)
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4130
YES
Contact
MOTOMAN-service
Arithmetic Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4140
YES
Contact
MOTOMAN-service
Select Error (Parameter)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 84
Alarm 4150
Group Axis Control Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4160
YES
Contact
MOTOMAN-service
Two Steps Same Position (Circle)
Alarm Occurrence
Confirm the taught program, and
then input three different points
NO
Alarm
re-occurs?
Resume use
Alarm 4170
YES
Contact
MOTOMAN-service
Two Steps Same Position (Spline)
Alarm Occurrence
Confirm the taught program, and
then input three different points
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4180
Page: 85
Two Steps Same Position (3 steps)
Alarm Occurrence
Confirm the taught program, and
then input three different points
NO
Alarm
re-occurs?
YES
Resume use
Alarm 4190
Contact
MOTOMAN-service
Two Steps Same Position (weave)
Alarm Occurrence
Confirm the taught program, and
then input three different points
NO
Alarm
re-occurs?
YES
Resume use
Alarm 4200
Contact
MOTOMAN-service
Teach Error (Spline)
Alarm Occurrence
Confirm the taught program,
and then provide instructions to
position taught points correctly
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 86
Alarm 4210
Impossible Linear Motion (L/U)
Alarm Occurrence
Confirm the taught
program so the pattern
of L and U axes is the same
NO
Alarm
re-occurs?
Resume use
Alarm 4220
YES
Contact
MOTOMAN-service
Impossible Linear Motion (S/L)
Alarm Occurrence
Confirm the taught
program so the pattern
of S and L axes is the same
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 4230
Trouble Shooting YASNAC MRC
Page: 87
Excessive Segment (Low speed)
Alarm Occurrence
Decrease the speed of the step
where the alarm occured
NO
Alarm
re-occurs?
YES
Set form of axes S and L,
and provide a new instruction
Resume use
Alarm
re-occurs?
NO
Resume use
Alarm 4240
YES
Contact
MOTOMAN-service
Excessive Segment (High speed)
Alarm Occurrence
Decrease the speed of the step
where the alarm occured
NO
Alarm
re-occurs?
YES
Set form of axes S and L,
and provide a new instruction
Resume use
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 88
Alarm 4250-4300
Soft Limit Over
Alarm Occurrence
Reset alarm using soft-limit-over
reset method, and then provide
another instruction
Alarm
re-occurs?
NO
YES
Resume use
Contact
MOTOMAN-service
AL-4250
Pulse limit over: minimum
AL-4280
Cube limit over: maximum
AL-4260
Pulse limit over: maximum
AL-4290
Special soft limit over: minimum
AL-4270
Cube limit over: minimum
AL-4300
Special soft limit over: maximum
Alarm 4310-4340
Mechanical Interference
Alarm Occurrence
Reset alarm using soft-limit-over
reset method, and then provide
another instruction.
NO
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Resume use
AL-4310
Mechanical interference:
minimum
AL-4330
Special mechanical interference:
maximum
AL-4320
Mechanical interference:
maximum
AL-4340
Special mechanical interference:
minimum
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4350-4360
Page: 89
Pulse Mechanical limit
Alarm Occurrence
Reset alarm using soft-limit-over
reset method, and then provide
another instruction.
Alarm
re-occurs?
NO
YES
Resume use
AL-4350
Contact
MOTOMAN-service
Pulse mechanical limit: minimum
Alarm 4370
AL-4360
Pulse mechanical limit: maximum
Station Axis Data Input Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 90
Alarm 4380
Segment Control Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4390
YES
Contact
MOTOMAN-service
Sub-segment Control Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4400
YES
Contact
MOTOMAN-service
Wrong Specified Control Group
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4410
Page: 91
CPU Communication Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
YES
Resume use
Alarm 4420
Contact
MOTOMAN-service
Failed To Select Over SP Level
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Turn the power off,
and then on again
YES
Alarm
re-occurs?
Replace MSV board
NO
MSV board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Resume use
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 92
Alarm 4430
Averaging Number Change Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Turn the power off,
and then on again
Alarm
re-occurs?
YES
Replace MSV board
NO
Alarm
re-occurs?
Resume use
YES
MSV board failure
Alarm 4440
NO
Contact
MOTOMAN-service
Torque Limit Change Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Turn the power off,
and then on again
YES
Alarm
re-occurs?
Replace MSV board
NO
MSV board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
NO
Resume use
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4450
Page: 93
JMS Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
YES
Contact
MOTOMAN-service
1/255
Parameter
11/245
Sequence number error
2/254
Access time over
12/244
Step numer error
3/253
Access error
13/243
4/252
Job name error
14/242
5/251
Existing job open
15/241
6/250
Memory over
16/240
Lack of handle
7/249
Not existing
17/239
Write Protected
8/248
Acess not permitted
18/238
Maximum instruction
9/247
Handling number error
19/237
Maximum step
10/246
System error
99/157
Job failure
Alarm 4460
Code error
JHM Error
Alarm Occurrence
Turn the power off,
and then on again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 94
Alarm 4470
Instruction Interpreter Error
Alarm Occurrence
Turn the power off,
and then on again
NO
Alarm
re-occurs?
Resume use
Alarm 4480
YES
Contact
MOTOMAN-service
Undefined Global Variable
Alarm Occurrence
Reset the parameter, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4490
YES
Contact
MOTOMAN-service
Var-Scoreboard Control Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4500
Page: 95
Undefined Local Variable
Alarm Occurrence
Set the local variable to the job heade
and then execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4510
YES
Contact
MOTOMAN-service
Less Than 3 Steps (circular)
Alarm Occurrence
Confirm the taught program, and
then input instructions to provide
more than three steps continuously
NO
Alarm
re-occurs?
Resume use
Alarm 4520
YES
Contact
MOTOMAN-service
Cannot Interpolate Circular Motion
Alarm Occurrence
Confirm the taught program, and
then input instructions to provide
more than three steps continuously
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 96
Alarm 4530
Undefined Job
Alarm Occurrence
Reset alarm, end then
execute the operation again
Alarm
re-occurs?
NO
YES
Resume use
Alarm 4540
Contact
MOTOMAN-service
Undefined Label
Alarm Occurrence
Check the taught point, and
then teach the point again
NO
Alarm
re-occurs?
YES
Resume use
Alarm 4550
Contact
MOTOMAN-service
Undefined Return Job
Alarm Occurrence
Start from the original job
NO
Resume use
Alarm
re-occurs?
YES
Check the taught point, and
then teach the point again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4560
Page: 97
Lack Of Local-Variable Area
Alarm Occurrence
Decrease the use
of local variables
Alarm
re-occurs?
NO
Resume use
Alarm 4570
YES
Contact
MOTOMAN-service
Local-Variable Control Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4580
YES
Contact
MOTOMAN-service
Job Call Stack Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 98
Alarm 4590
Feedback Pulse Making Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4600
YES
Contact
MOTOMAN-service
Unsuccessful Fine Positioning
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Turn the power off,
and then on again
Alarm
re-occurs?
YES
Replace MSV board
NO
Alarm
re-occurs?
MSV board failure
Skapad: 98-10-09
Ändrad: 98-11-26
NO
Resume use
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4610
Page: 99
Pending Block-End Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4620
YES
Contact
MOTOMAN-service
Data Preset Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4630
YES
Contact
MOTOMAN-service
Variable Data Type Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 100
Alarm 4640
Over Variable Limit
Alarm Occurrence
Change value of variable type that
exceeds numerical range limits.
NO
Alarm
re-occurs?
Resume use
Alarm 4650
(B**) ‘0-255
(I**) -32768~32767
(D**) -2147483648
~214748
(R**) -1.70141E+38
~1.70141E
YES
Contact
MOTOMAN-service
Defective Taught Point (circular)
Alarm Occurrence
Check taught point, and then teach
three points not in a straight line
NO
Alarm
re-occurs?
Resume use
Alarm 4660
YES
Contact
MOTOMAN-service
Weaving Control Error
Alarm Occurrence
Reset alarm, and then check
weave file and REFP points
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4670-4671
Page: 101
Overrun In Axis
Alarm Occurrence
Recover from overtravel
then try again
Alarm
re-occurs?
NO
Resume use
YES
Set the swith again
Check short switch on MBB02
YES
Abnormal?
NO
Alarm
re-occurs?
NO
Swith setting failure
Check the over
run limit switch
YES
Replace switch
YES
Defective?
NO
Alarm
re-occurs?
NO
YES
Check the wiring of the
overrun limit switch
Alarm
re-occurs?
Switch failure
YES
Replace wiring
harness
NO
Replace MTU
board
Replace MBB02
(IOBB) board
YES
Alarm
re-occurs?
Alarm
re-occurs?
YES
NO
Lead failure
NO
Alarm
re-occurs?
NO
YES
Board failure
MBB02 (IOBB)
failure
AL-4670
At robot axes occurrence
Skapad: 98-10-09
Ändrad: 98-11-26
Contact
MOTOMAN-service
AL-4671
At external axes occurrence
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 102
Alarm 4680-4730
File Fault
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
YES
Load the file corresponding to
the screen, and then try again
Alarm
re-occurs?
NO
YES
Contact
MOTOMAN-service
Resume use
AL-4680
Tool file
AL-4710
Weaving file
AL-4690
User frame file
AL-4720
Home position absolute data file
AL-4700
Servo monitor signal file
AL-4730
Second home position data file
Alarm 4740
Posn File Data Read-Out Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4750
Page: 103
Unmatched Posn Var Data Type
Alarm Occurrence
Change position variable data
type (pulse - XYZ).
Alarm
re-occurs?
NO
Resume use
Alarm 4760
YES
Contact
MOTOMAN-service
File No. Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 4770
YES
Contact
MOTOMAN-service
Undefined Reference Point
Alarm Occurrence
Register the reference point
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 104
Alarm 4780
Stack More Than 8 (job call)
Alarm Occurrence
Check program, and modify so that
stack does not exceed 8 calls
NO
Alarm
re-occurs?
Resume use
Alarm 4790
YES
Contact
MOTOMAN-service
Arithmetic Section Request Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 4800
YES
Contact
MOTOMAN-service
Request-To-Send Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4810
Page: 105
Over Variable No.
(B000~B039)
(I000~I039)
D000~D039)
R000~R039)
P000~P127)
BP000~BP127)
EX000~EX127)
Alarm Occurrence
Check program, and change
variable number within limit
Alarm
re-occurs?
NO
YES
Resume use
Alarm 4820
Contact
MOTOMAN-service
Position Data Management Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
1
Not enough area
9
Control information destroyed
2
Number of axis zero
10
Irregular position number
3
Position not kept
11
Position data not set
4
Number of position over
12
Undefined position
5
Area not specified
13
Undefined control group
6
File destroyed
14
Initialization not done
7
Memory over
15
Number of axis over
8
Position data destroyed
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 106
Alarm 4830-4850
Undefined Condition File
Alarm Occurrence
Complete the
setting of the file
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
AL-4830
Welder condition file
AL-4840
Arc start condition file
Alarm 4860
AL-4850
Arc end condition file
Wrong Welder Selection
Alarm Occurrence
Match unit of voltage
selection to welder type
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4870-4900
Page: 107
Condition File Fault
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
YES
Load file, and the try again
Resume use
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
AL-4870
Welder condition file
AL-4890
Arc end condition file
AL-4880
Arc start condition file
AL-4900
Arc condition supp. file
Alarm 4910
AX-CPU Command Area Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 108
Alarm 4920-4950
File Fault
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
YES
Resume use
Load file, and then try again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
AL-4920
COM-ARC 3 Condition file
AL-4940
Correction condition file
AL-4930
COM-ARC 3 Data file
AL-4950
Phase offset data file
Alarm 4960
System Change
Alarm Occurrence
Turn the power off,
and then on again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 4970
Page: 109
Equation Exception Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
YES
Resume use
Alarm 4980
Contact
MOTOMAN-service
Excessive Instruction Equation
Alarm Occurrence
Check the program, and
make the expression short
Alarm
re-occurs?
NO
YES
Resume use
Alarm 4990
Contact
MOTOMAN-service
Encoder Battery Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Battery failure
YES
Replace battery
board for encoder
NO
MFC board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 110
Alarm 5000
Encoder Overheat
Alarm Occurrence
Turn the power off, let encoder
cool, and then turn the power on
Alarm
re-occurs?
YES
If motor has cooling fan, check
if fan is working properly
Is fan
working?
YES
NO
Check the wiring of fan
Defective?
NO
YES
Replace fan wiring
Alarm
re-occurs?
Check load
YES
NO
Load
condition?
Replace fan
Alarm
re-occurs?
Lead failure
OK
Overload
YES
Decrease weight
NO
Replace motor
Fan failure
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
Motor failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5010
Page: 111
Illegal Parameter
Alarm Occurrence
Change the parameter
back to original
Alarm
re-occurs?
NO
YES
Resume use
Load parameter file,
and then try again
NO
Alarm
re-occurs?
Contact
MOTOMAN-service
Resume use
Alarm 5020
YES
Zero Divisor Occurrence
Alarm Occurrence
Change the program so that the
number will not be divided by zero
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 112
Alarm 5030
MOTOMAN
ROBOTICS
AB
Global-Variable Area Parameter Error
Alarm Occurrence
Change the parameter
back to original value
Alarm
re-occurs?
NO
YES
Resume use
Load parameter file,
and then try again
NO
Alarm
re-occurs?
Contact
MOTOMAN-service
Resume use
Alarm 5040
YES
Out Of Range (abso data)
Alarm Occurrence
Reset alarm by checking
second home position
Alarm
re-occurs?
YES
NO
Check battery wiring
to encodeers
Defective?
YES
Replace battery
Resume use
NO
Replace motor
Motor failure
NO
Alarm
re-occurs?
YES
YES
Alarm
re-occurs?
NO
Battery failure
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5060
Page: 113
Undefined Auto-Weld Release Cond
Alarm Occurrence
Set welding release condition
time, and then try again
Alarm
re-occurs?
NO
Resume use
Alarm 5070
YES
Contact
MOTOMAN-service
Undefined Position For Arc Retry
Alarm Occurrence
Add step, and then try again
NO
Alarm
re-occurs?
Resume use
Alarm 5080
YES
Contact
MOTOMAN-service
Overspeed Limit
Alarm Occurrence
Check setting for MFC04
board, and then try again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 114
Alarm 5090
DC 24V Power Supply Failure
Alarm Occurrence
Check 24V power voltage
supplied to IOBB
Defective?
YES
Replace DC 24V
power supply
NO
Check fuse on IOBB
YES
Alarm
re-occurs?
YES
Replace fuse
Replace IOBB
YES
Alarm
re-occurs?
Alarm
re-occurs?
NO
Board failure
Defective?
NO
Power supply
failure
NO
Fuse failure
NO
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5100
Page: 115
Shock Sensor Action
Alarm Occurrence
Remove interference between
the tool and the fixture, etc
Remove interference,
and then try again
YES
Interference?
NO
Alarm
re-occurs?
Check the shock
sensor cable
YES
NO
Defective?
YES
Replace cable
YES
Alarm
re-occurs?
Resume use
NO
Check the shock
sensor operation
Check the setting of
IOBB short pin switch
Abnormal?
NO
Abnormal?
Set the short
pin switch
YES
Replace MTU
board
MTU board
failure
YES
NO
Sensor failure
YES
Contact
MOTOMAN-service
Setting failure
Replace MRY
board
Alarm
re-occurs?
Skapad: 98-10-09
Replace shock sensor
Alarm
re-occurs?
YES
NO
Alarm
re-occurs?
Cable failure
YES
Alarm
re-occurs?
NO
NO
Replace IOBB
YES
Alarm
re-occurs?
NO
YES
MRY board failure
Contact
MOTOMAN-service
Ändrad: 98-11-26
NO
IOBB failure
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 116
Alarm 5110
MOTOMAN
ROBOTICS
AB
Brake Fuse Blown
Alarm Occurrence
Check the brake lead wiring
for short to ground
Short?
Check the
brake fuse
Replace the
brake fuse
YES
YES
Replace lead
wire for brake
YES
Alarm
re-occurs?
NO
Fuse blown?
Lead wire failure
NO
Alarm
re-occurs?
YES
Replace the
MTU board
Alarm
re-occurs?
NO
NO
Board failure
Fuse failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5120
Page: 117
Parity Error
Alarm Occurrence
Check the parameter for
parity check function
Invalid
parameter?
YES
Set the parameter
correctly
NO
Check input
Check the
input program
YES
NO
Abnormal?
YES
Parameter setting
failure
NO
Alarm
re-occurs?
YES
Alarm
re-occurs?
Replace the MTU
board
Alarm
re-occurs?
NO
NO
Board failure
Abnormal input
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 118
Alarm 5130
MOTOMAN
ROBOTICS
AB
Over BCD Range
Alarm Occurrence
Check the BCD
function parameter
Invalid
parameter?
YES
Set the parameter
correctly
NO
Check
input/output
Check the input/
output program
YES
YES
NO
Abnormal?
Parameter setting
failure
NO
Alarm
re-occurs?
YES
Replace IO
module board
Alarm
re-occurs?
NO
Input/output
failure
Alarm
re-occurs?
NO
Board failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5140
Page: 119
Over Binary Range (parity check)
Alarm Occurrence
Check parity check - BCD
function parameter
Invalid
parameter?
YES
Set the parameter
correctly
NO
Check output
Check the
output program
NO
Abnormal?
YES
Parameter setting
failure
NO
Alarm
re-occurs?
Alarm
re-occurs?
YES
Replace IO
module board
YES
Alarm
re-occurs?
NO
Output failure
NO
Board failure
YES
Contact
MOTOMAN-service
Alarm 5150
Offline Undefined Command (Arith)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 120
Alarm 5160
Offline System Error (Arith)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Alarm 5170
Contact
MOTOMAN-service
Robot Calibration Data Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 5180
YES
Contact
MOTOMAN-service
Robot Calibration Frame Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5190
Page: 121
Arithmetic Section Init Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 5200
YES
Contact
MOTOMAN-service
Set-Up Process Error (motion)
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Alarm 5210
YES
Contact
MOTOMAN-service
System Error (motion)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 122
Alarm 5220
Servo Ready Monitoring Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 5230
YES
Contact
MOTOMAN-service
Calibration Data Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Alarm 5240
YES
Contact
MOTOMAN-service
Tool Calibration Data Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5250-5300
Page: 123
File Fault
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
YES
Load the file corresponding to
the display, and then try again
NO
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Resume use
AL-5250
Robot calibration file
AL-5280
Arc end cond guide file
AL-5260
Tool calibration file
AL-5290
Welder user-defined file
AL-5270
Arc start cond guide file
AL-5300
Ladder program file
Alarm 5310
Arithmetic Alarm Reset Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 124
Alarm 5320
Wrong Control Group Axis
Alarm Occurrence
Check program and modify it (include
control group to the original job).
NO
Alarm
re-occurs?
Resume use
Alarm 5330
YES
Contact
MOTOMAN-service
Cannot Execute Job (no robot)
Alarm Occurrence
Check program and modify it (include
control group to the original job).
NO
Alarm
re-occurs?
Resume use
Alarm 5340
YES
Contact
MOTOMAN-service
Sensing Data Request Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5350
Page: 125
Main Contactor On Reply Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Check if main contactor
is working or not
NO
Working?
YES
Check voltage for
main contactor coil
NO
Abnormal?
YES
Replace main
contactor
Alarm
re-occurs?
YES
Check MTU board
Defective?
NO
YES
Replace MTU board
NO
Contactor failure
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
MTU board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 126
Alarm 5360
Main Contactor Off Reply Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Check if main contactor
is working or not
NO
Working?
YES
Check voltage for
main contactor coil
NO
Abnormal?
YES
Replace main
contactor
Alarm
re-occurs?
YES
Check MTU board
Defective?
NO
Contactor failure
YES
Replace MTU board
NO
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
MTU board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5370
Page: 127
Braking Lock Reply Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Check if main contactor
is working or not
NO
Working?
YES
Check voltage for
main contactor coil
NO
Abnormal?
YES
Replace main
contactor
Alarm
re-occurs?
YES
Check MTU board
Defective?
NO
YES
Replace MTU board
NO
Contactor failure
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
MTU board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 128
Alarm 5380
Braking Release Reply Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Check if main contactor
is working or not
NO
Working?
YES
Check voltage for
main contactor coil
NO
Abnormal?
YES
Replace main
contactor
Alarm
re-occurs?
YES
Check MTU board
Defective?
NO
Contactor failure
YES
Replace MTU board
NO
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
MTU board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5390
Page: 129
Servo-Ready On Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Check if main contactor
is working or not
NO
Working?
YES
1
YES
Replace MTU board
Check voltage for
main contactor coil
NO
Abnormal?
YES
Replace main
contactor
Alarm
re-occurs?
YES
Check MTU board
Defective?
NO
NO
Contactor failure
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
MTU board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 130
Alarm 5390
MOTOMAN
ROBOTICS
AB
Servo-Ready On Error (...continued)
1
Check change LED
on servopack
YES
Lit?
NO
Turn off power, and
then turn it on again
Alarm
re-occurs?
NO
Resume use
YES
Check wiring between
contactor and servopack
Defective?
Replace wiring between
contactor and servopack
YES
NO
Check wiring between MSV
board and servopack
Defective?
YES
YES
Alarm
re-occurs?
NO
Wiring failure
Replace wiring between
MSV board and servopack
NO
Replace servopack
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Wiring failure
NO
MSV board
failure
Replace MSV board
Alarm
re-occurs?
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5400
Page: 131
Servo-Ready Off Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Check if main contactor
is working or not
NO
Working?
YES
1
YES
Replace MTU board
Check voltage for
main contactor coil
NO
Abnormal?
YES
Replace main
contactor
Alarm
re-occurs?
YES
Check MTU board
Defective?
NO
NO
Contactor failure
Contact
MOTOMAN-service
YES
Alarm
re-occurs?
NO
MTU board failure
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 132
Alarm 5400
MOTOMAN
ROBOTICS
AB
Servo-Ready Off Error (...continued)
1
Check change LED
on servopack
YES
Lit?
NO
Turn off power, and
then turn it on again
Alarm
re-occurs?
NO
Resume use
YES
Check wiring between
contactor and servopack
Defective?
Replace wiring between
contactor and servopack
YES
NO
Check wiring between MSV
board and servopack
Defective?
YES
YES
Alarm
re-occurs?
NO
Wiring failure
Replace wiring between
MSV board and servopack
NO
Replace servopack
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Wiring failure
NO
MSV board
failure
Replace MSV board
Alarm
re-occurs?
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5410
Page: 133
Base-Block On Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
NO
Resume use
YES
Turn off power, and
then turn it on again
Alarm
re-occurs?
YES
Check wiring between MSV
board and servopack
Defective?
YES
Replace wiring between
MSV board and servopack
NO
Replace servopack
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Wiring failure
NO
MSV board
failure
Replace MSV board
Alarm
re-occurs?
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 134
Alarm 5420
MOTOMAN
ROBOTICS
AB
Base-Block Off Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
NO
Resume use
YES
Turn off power, and
then turn it on again
Alarm
re-occurs?
YES
Check wiring between MSV
board and servopack
Defective?
YES
Replace wiring between
MSV board and servopack
NO
Replace servopack
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Wiring failure
NO
MSV board
failure
Replace MSV board
Alarm
re-occurs?
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Alarm 5430
Page: 135
Dynamic Brake On Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
NO
Resume use
YES
Turn off power, and
then turn it on again
Alarm
re-occurs?
YES
Check wiring between MSV
board and servopack
Defective?
YES
Replace wiring between
MSV board and servopack
NO
Replace servopack
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Wiring failure
NO
MSV board
failure
Replace MSV board
Alarm
re-occurs?
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 136
Alarm 5440
MOTOMAN
ROBOTICS
AB
Dynamic Brake Off Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
NO
Resume use
YES
Turn off power, and
then turn it on again
Alarm
re-occurs?
YES
Check wiring between MSV
board and servopack
Defective?
YES
Replace wiring between
MSV board and servopack
NO
Replace servopack
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Wiring failure
NO
MSV board
failure
Replace MSV board
Alarm
re-occurs?
Servopack failure
YES
Contact
MOTOMAN-service
Skapad: 98-10-09
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5450
Trouble Shooting YASNAC MRC
Page: 137
Unused (on)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5460
Unused (off)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5470
Cannot Edit (edit lock job)
Alarm Occurrence
Release Edit-lock, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 138
Alarm 5480
MOTOMAN
ROBOTICS
AB
Select Error (application 1)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
Alarm 5490
Select Error (application 2)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
Alarm 5500
Select Error (sensor 1)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5510
Trouble Shooting YASNAC MRC
Page: 139
Select Error (sensor 2)
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
YES
Contact
MOTOMAN-service
Alarm 5520
Wrong Port Out (analog output)
Alarm Occurrence
Reset alarm, and then
execute the operation again
Alarm
re-occurs?
NO
Resume use
Data 1
Contact
MOTOMAN-service
Application 1
Skapad: 98-10-09
YES
Ändrad: 98-11-26
Data 2
Application 2
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 140
Alarm 5530
Pass Over
Alarm Occurrence
Is COM-ARC III’s
function normal?
Check workpiece
deviation
YES
NO
Check the cable between
the current detection unit
and the sensor board
Defective?
Deviation?
Small
Large
Position a workpiece
Check the current
detection unit
NO
YES
Defective?
YES
Replace the current
detection unit
Change the cable
NO
Replace the
sensor board
Sensor board failure
Alarm
re-occurs?
NO
YES
YES
Alarm
re-occurs?
NO
Current detection
unit failure
Contact
MOTOMAN-service
Alarm 5540
Wrong Selection (sensor)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5550
Trouble Shooting YASNAC MRC
Page: 141
Wrong Mech Parameter File
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5560
Incompleted PT Frame
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5570
Defective Taught Point (cutting)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Data 1
Contact
MOTOMAN-service
CW axis position is not 0.
Skapad: 98-10-09
YES
Ändrad: 98-11-26
Data 2
Cutting radius is 0.
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 142
Alarm 5580
MOTOMAN
ROBOTICS
AB
Defective Taught Point (endless)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Data 1
Data 2
Contact
MOTOMAN-service
Linear motion error (MRESET
not executed.
Endless on base axes
Alarm 5590
Data 3
Endless not selected on T-axis.
Data 4
Command position exceeds limit
(214748367 pulse).
Correctional Direction Data
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
Alarm 5600
Position Correction Data
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5610
Trouble Shooting YASNAC MRC
Page: 143
Over Tool File No.
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5620
Defective Taught Point (weav)
Alarm Occurrence
Check the REFP, and then
teach the REFP again
NO
Alarm
re-occurs?
Resume use
Data 1
YES
Contact
MOTOMAN-service
Weaving atart point and end
point is the same
Alarm 5630
Data 2
Weaving REFP 1 or 2 is on the path
Undefined Robot Calibration
Alarm Occurrence
Execute robot calibration
NO
Alarm
re-occurs
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 144
Alarm 5640
Parameter Error
Alarm Occurrence
Reset the parameter
with the original data
NO
Alarm
re-occurs?
Resume use
YES
Load the parameter file
and then try again
Alarm
re-occurs?
NO
YES
Resume use
Alarm 5650
Contact
MOTOMAN-service
Defective Taught Point (Calib)
Alarm Occurrence
Check the taught point, and
then teach the point again
NO
Alarm
re-occurs?
Resume use
Data 3
Data 4
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Data for station 2nd axis is not
same 3, 4, 5 points.
Data for station 1st axis is not
same 1, 2, 3 points.
Ändrad: 98-11-26
Data 5
Data 6
Data for station 2nd axis is not
same 1, 2, 3 points.
Data for station 1st axis is not same
3, 4, 5 points.
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5660
Trouble Shooting YASNAC MRC
Page: 145
DM-Bank Transmission Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5670
Cannot Execute Job (no grp axis)
Alarm Occurrence
Set group axes
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5680
Univ Data Preset Request Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 146
Alarm 5690
Braking Sequence Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
Alarm 5700
Process Error (Syscon - axis)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Alarm 5710
Contact
MOTOMAN-service
Illegal Sv Parameter (online)
Alarm Occurrence
Reset the parameter
with the original data.
NO
Alarm
re-occurs?
Resume use
Load the parameter file
and then try again
NO
Resume use
Skapad: 98-10-09
YES
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5720
Trouble Shooting YASNAC MRC
Page: 147
Illegal Sv Parameter (online)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Replace the MSV board,
and then try again
Alarm
re-occurs?
NO
Resume use
Alarm 5730
YES
Contact
MOTOMAN-service
Sv Parameter Change Error (online)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Replace the MSV board,
and then try again
NO
Resume use
Skapad: 98-10-09
YES
Ändrad: 98-11-26
Alarm
re-occurs?
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
MOTOMAN
ROBOTICS
AB
Page: 148
Alarm 5740
Illegal Max Speed Parameter
Alarm Occurrence
Reset the parameter
with the original data
NO
Alarm
re-occurs?
Resume use
YES
Load the parameter file
and then try again
Alarm
re-occurs?
NO
Resume use
Alarm 5750
YES
Contact
MOTOMAN-service
Undefined Position Variable
Alarm Occurrence
Set the position variable
NO
Alarm
re-occurs?
YES
Resume use
Alarm 5760
Contact
MOTOMAN-service
Undefined User Frame
Alarm Occurrence
Set the user frame
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5770
Trouble Shooting YASNAC MRC
Page: 149
Out Of Range (parallel process)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5780
SL Board On-Line Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5790
Interrupt Error (sensor)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Trouble Shooting YASNAC MRC
Page: 150
Alarm 5800
MOTOMAN
ROBOTICS
AB
Out Of Current Detector Range
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
Alarm 5810
Command Error (sensor)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
YES
Resume use
Contact
MOTOMAN-service
Alarm 5820
Process Error (sensor)
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
Ändrad: 98-11-26
YES
Contact
MOTOMAN-service
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
MOTOMAN
ROBOTICS
AB
Alarm 5830
Trouble Shooting YASNAC MRC
Page: 151
Parallel Start Instruction Error
Alarm Occurrence
Check the program,
and then modify it.
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5840
Cannot Execute Job (grp axis)
Alarm Occurrence
Set group axes
NO
Alarm
re-occurs?
Resume use
YES
Contact
MOTOMAN-service
Alarm 5850
Measure Inst Execute Error
Alarm Occurrence
Reset alarm, and then
execute the operation again
NO
Alarm
re-occurs?
Resume use
Skapad: 98-10-09
YES
Contact
MOTOMAN-service
Ändrad: 98-11-26
Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Headquarters:
MOTOMAN ROBOTICS AB
Box 504 l 385 25 Torsås l Sweden
Tel: +46-486-48800l Fax: +46-486-41410
Subsidiary:
MOTOMAN ROBOTICS UK LTD
1 Swan Industrial Estate l Banbury l OXON OX16 8DJ l England
Tel: +44-1295-272755 l Fax: +44-1295-267127
MOTOMAN ROBOTICS ITALIA SRL
Via Emilia 1420/16 l I-41100 Modena l ITALY
Tel: +39-59280496 l Fax: +39-59280602
MOTOMAN ROBOTICS FRANCE S.A.
Rue Nungesser et Coli l D2A Nantes-Atlantique l F-44860 Saint-Aignan-de-Grand-Lieu l France
Tel: +33-2-40131919 l Fax: +33-40754147
MOTOMAN ROBOTICS ESPAÑA S.L.
Avenida Marina 56 l Parcela 90 l ES-08830 ST. Boi de Llobregat l Spain
Tel: +34-36303478 l Fax: +34-36543459
Distributors:
ELECTRO-ARCO S.A.
Rua Vice Almirante Azevedo Coutinho, 4 l Venda Nova l PT-2700 Amadora l Portugal
Tel: +351-14968160 l Fax: +351-14990696
HN AUTOMATIC A/S
Hjulmagervej 4 l DK-7100 Vejle l Denmark
Tel: +45-79428000 l Fax: +45-79428001
LINCOLN-KD S.A.
Ctra, Laureà Miró 396-398 l E-08980 Sant Feliu de Llobregat l Spain
Tel: +34-36859600 l Fax: +34-36859633
MOTOMAN ROBOTIT OY
Kärsämäentie 8 l SF-20300 Turku l Finland
Tel: +358-22145600 l Fax: +358-22145660
ROBOT-TEKNIKK AS
Øvre Eikervei 177 l N-3048 Drammen l Norway
Tel: +47-32217830 l Fax: +47-32217840
SIAD S.p.a.
Via S. Bernardino, 92 l I-24126 Bergamo l Italy
Tel: +39-35-328111 l Fax: +39-35-320183
MOTOMAN
ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation