Trouble ShootingMRC
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Transcript of Trouble ShootingMRC
MOTOMAN ROBOTICS ABa subsidiary of YASKAWA Electric Corporation
Trouble Shooting Guide, YASNAC MRC
YASNAC MRC ver. 3.144B
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 1
MOTOMANROBOTICSAB
Alarm 0010 CPU Board Insertion Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Replace all boards
Turn power OFF,and then ON again.
Resume use Remove the SV board correspondingto the display, and then re-install it
Alarmre-occurs? NO
Resume use
YES
Alarmre-occurs?NO
Resume use Replace the ROM of the boardcorresponding to the display
YES
Alarmre-occurs?NO
ROM failure
YES
Replace the boardcorresponding to the display
Alarmre-occurs?
Board failure
NOYES
Alarmre-occurs? YESNO
Board failure
Remove the MCP01board, and then re-install it
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 2
MOTOMANROBOTICS
AB
Alarm 0020 CPU Communication Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Replace all boards
Turn power OFF,and then ON again.
Resume use Remove the SV board correspondingto the display, and then re-install it
Alarmre-occurs? NO
Resume useRemove all boards,and then re-install them
YES
Alarmre-occurs?NO
Resume use Replace the ROM of the boardcorresponding to the display
YES
Alarmre-occurs?NO
ROM failure
YES
Replace the boardcorresponding to the display
Alarmre-occurs?
Board failure
NOYES
Alarmre-occurs? YESNO
Board failure
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 3
MOTOMANROBOTICSAB
Alarm 0030 ROM Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use
Alarmre-occurs?NO
ROM failure
YES
Alarmre-occurs? NO
Replace the ROM of the boardcorresponding to the display
YES
Replace the boardcorresponding to the display
Board failure
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 4
MOTOMANROBOTICS
AB
Alarm 0040 RAM Error (local)
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use Remove the board correspondingto the display, and then re-install it
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs? NOYES
Replace the boardcorresponding to the display
Board failure
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 5
MOTOMANROBOTICSAB
Alarm 0050 RTC Error)
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use Remove the board correspondingto the display, and then re-install it
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs? NOYES
Replace the boardcorresponding to the display
Board failure
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 6
MOTOMANROBOTICS
AB
Alarm 0060 RAM Error (A-bus Common)
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Replace all boards
Turn power OFF,and then ON again.
Resume use
Alarmre-occurs? NO
Resume useRemove all boardsand re-install again
YES
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs? NOYES
Replace the boardcorresponding to the display
Alarmre-occurs?
Board failure
NO YES
Board failure
Remove the board correspondingto the display, and then re-install it
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 7
MOTOMANROBOTICSAB
Alarm 0070 RAM Error (D-Bus 2-Port)
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Replace all boards
Turn power OFF,and then ON again.
Resume use Remove the SV board correspondingto the display, and then re-install it
Alarmre-occurs? NO
Resume useRemove all boardsand re-install again
YES
Alarmre-occurs?NO
Resume use Replace the SV boardcorresponding to the display
YES
Alarmre-occurs?NO
SV board failure
YES
Replace the MCP02 board
Alarmre-occurs?
Board failure
NOYES
Alarmre-occurs? YESNO
Board failure
Trouble Shooting YASNAC MRC
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Page: 8
MOTOMANROBOTICS
AB
Alarm 0080 RAM Error (S-Bus 2-Port)
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use
Alarmre-occurs? NO
Resume useRemove MCP01and re-install again
YES
Alarmre-occurs?NO
Resume use Replace the boardcorresponding to the display
YES
Alarmre-occurs? NO
Board failure
YES
Replace the MCP01 board
Alarmre-occurs?
MCP01 board failure
NO YES
Remove the board correspondingto the display, and then re-install it
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 9
MOTOMANROBOTICSAB
Alarm 0090 I/O Module Communication Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Replace MIF01 board
Turn power OFF,and then ON again.
Resume use Confirm the settingof the I/O module
Alarmre-occurs? NO
Resume useCheck the wiring of the cablebetween MIF01 and MBB02
YES
Alarmre-occurs?NO
Resume use Remove the I/O module correspondingto the display, and then re-install it
YES
Alarmre-occurs? NOYES
Replace the I/O module
Alarmre-occurs?NO YES
Alarmre-occurs?YES NO
MIF01 board failure
Resume use
I/O modulefailure
Trouble Shooting YASNAC MRC
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Page: 10
MOTOMANROBOTICS
AB
Alarm 0100 IAMP Communication Error
Confirm the settingof the servopack
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use Remove the cable connectorbetween the MSV board and IAMP
Alarmre-occurs? NO
Resume useCheck the wiring of the cablebetween MSV board and IAMP
YES
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs? NO
Servopack failure
YES
Replace the MSV board
Alarmre-occurs?
MSV board failure
NO YES
Resume useReplace the servopack
Alarmre-occurs? NOYES
Trouble Shooting YASNAC MRC
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Page: 11
MOTOMANROBOTICSAB
Alarm 0110 IAMP Parameter Modification Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use Remove the cable connector betweenthe MSV board and IAMP and re-install
Alarmre-occurs? NO
Resume useCheck the wiring of the cablebetween MSV board and IAMP
YES
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs?NO
Servopack failure
YES
Replace the MSV board
Alarmre-occurs?
MSV Board
NOYES
Replace the servopack
failure
Trouble Shooting YASNAC MRC
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Page: 12
MOTOMANROBOTICS
AB
Alarm 0120 Encoder communication error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use Remove the cable connector betweenthe MSV board and IAMP and re-install
Alarmre-occurs?
NO
Resume use
Check the wiring of the cablebetween MSV board and IAMP
YESAlarm
re-occurs?
NO
Cable failureReplace the
servopack
YES
Alarmre-occurs?
NO
Servopack
YES
Replace theAlarmre-occurs?
NO
YES
between encoder and IAMP, YES
Resume useRemove the cable connector
and then install to another axis between encoder and IAMP,
Alarmre-occurs?
Alarmre-occurs?
Check the cable groundbetween encoder and IAMP
NO
Cable failure NO
failure YES
MSV board
Alarmre-occurs?
YES
NO
Alarmre-occurs? Resume useNOYESReplace the
motor
Alarmre-occurs? YES
Motor failure
NORemove the cable connector
and then re-install it
BSV Boardfailure
Reset the absoluteencoder
ContactMOTOMAN-service
Trouble Shooting YASNAC MRC
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Page: 13
MOTOMANROBOTICSAB
Alarm 0130 Encoder Overspeed
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use After the motor stops,control power ON.
Alarmre-occurs? NO
Resume use
YES
Alarmre-occurs?NO
Resume use
YES
Replaceservo motor
Alarmre-occurs? NOYES
Reset theabsolute encoder
Motor failure
Trouble Shooting YASNAC MRC
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Page: 14
MOTOMANROBOTICS
AB
Alarm 0131 Encoder Data Error
Alarm 0132 Encoder Back-up Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use Reset the
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs? NOYES
absolute encoder
Replace the motor
Motor failure
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Resume use Reset the
Alarmre-occurs?NO
Resume use
YES
Alarmre-occurs? NOYES
absolute encoder
Replace the motor
Motor failure
Change the battery, reset the alarmand then set home position
Trouble Shooting YASNAC MRC
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Page: 15
MOTOMANROBOTICSAB
Alarm 0133 Encoder Checksum Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Change the battery, reset the alarmand then set home position.
Resume use Reset the
Alarmre-occurs?NO
Resume use
YES
Replaceservo motor
Alarmre-occurs? NOYES
absolute encoder
Motor failure
Trouble Shooting YASNAC MRC
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Page: 16
MOTOMANROBOTICS
AB
Alarm 0134 Encoder Battery Error
Alarm 0135 Encoder Overheat
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Change the battery
Resume use Check
Alarmre-occurs? NO
Resume use
YES
Alarmre-occurs? NOYES
Motor failure
Internal wiring
Alarmre-occurs?
Reset theabsolute encoder
NO YES
Resume use Replace the motor
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
After cooling, turn thepower ON again
Resume use
Internal wire
Alarmre-occurs? NOYES
failure
CheckInternal wiring
Trouble Shooting YASNAC MRC
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Page: 17
MOTOMANROBOTICSAB
Alarm 0200 Fault (Parameter)
Alarm 0210 Fault (System Config-Data)
Alarm 0220 Fault (Job Management Data)
Alarm Occurrence
Alarmre-occurs? YESNO
Turn power OFF,and then ON again.
Resume use Contact MOTOMAN-service before
initializing the parameter file
Alarm Occurrence
Contact MOTOMAN-service before
initializing the parameter file
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?YES NO
Job file destroyed
Initialize the job file
Trouble Shooting YASNAC MRC
Skapad: 98-10-09 Ändrad: 98-11-26 Filnamn: T:\M-ROBOT\ENGELSK\TROUBLE_SHOOTING.FM
Page: 18
MOTOMANROBOTICS
AB
Alarm 0230 Fault (CIO Ladder)
Alarm 0300 Verify Error (System Config-Data)
Alarm 0310 Verify Error (CMOS Memory Size)
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Initialize the CIO Ladder
CIO Ladderdestroyed
Alarm Occurrence
Contact MOTOMAN-service before
initializing the system config.
Alarm Occurrence
Confirm the extension CMOS board
Alarmre-occurs? YESNO
The extension CMOS Contact MOTOMAN-service before
initializing the system config.board is not mounted
Trouble Shooting YASNAC MRC
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Page: 19
MOTOMANROBOTICSAB
Alarm 0320 Verify Error (I/O module)
Alarm 0330 Illegal Parameter
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Remove the I/O-module that correspondsto the display, then re-install the module
Resume use Confirm the setting
Alarmre-occurs? NO
Resume use
YES
Replace the I/O modulecorresponding to the display
Alarmre-occurs?NO YES
I/O module failure
of the I/O module
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Reset originalparameter value
Resume use
Trouble Shooting YASNAC MRC
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Page: 20
MOTOMANROBOTICS
AB
Alarm 0340 Verify Error (Servopack Type)
Alarm 0350 Verify Error (Encoder Type)
Alarm 0360 Verify Error (Application)
Alarm 0370 Verify Error (Sensor Function)
Alarm Occurrence
Alarmre-occurs? YESNO
Set the parameter to match themounted servopack type
Resume use Contact MOTOMAN-service before
initializing the system config.
Alarm Occurrence
Alarmre-occurs? YESNO
Set the parameter to match themounted encoder type
Resume use Contact MOTOMAN-service before
initializing the system config.
Alarm Occurrence
Contact MOTOMAN-servicebefore initializing the system config.
Alarm Occurrence
Contact MOTOMAN-servicebefore initializing the system config.
Trouble Shooting YASNAC MRC
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Page: 21
MOTOMANROBOTICSAB
Alarm 0400 Parameter Transmission Error
Alarm 0410 Mode Change Error
Alarm Occurrence
Alarmre-occurs? YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Replace the board
Alarmre-occurs?NO
Board failure
YES
Replaceall boards
Alarmre-occurs? NOYES
corresponding to the display
Board failure
Alarm Occurrence
Alarmre-occurs? YESNO
Turn power OFF,and then ON again.
Resume use ContactMOTOMAN-service
Trouble Shooting YASNAC MRC
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Page: 22
MOTOMANROBOTICS
AB
Alarm 0900 - 0920 Watch Dog Timer Error
AL-0900 MCP02 AL-0906 MCP01 AL-0914 MSV#5
AL-0901 AL-0907 MIF01 AL-0915 MSV#6
AL-0902 MSL#1 AL-0910 MSV#1 AL-0916 MSV#7
AL-0903 MSL#2 AL-0911 MSV#2 AL-0917
AL-0904 AL-0912 MSV#3 AL-0920 MIF02
AL-0905 AL-0913 MSV#3
Alarm Occurrence
Alarmre-occurs?
NO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume useRemove the board corresponding to
the display, then re-install it
Alarmre-occurs?
NO
Resume use
Remove all boards,then re-install them YES
Alarmre-occurs?
NO
Resume use
Replace allboards
YES
Alarmre-occurs?
NO
EPROM failure
YES
Alarmre-occurs?
Board failure
NO
YES
Replace the EPROM of the boardcorresponding to the display
Replace boardcorresponding to the display
Alarmre-occurs?
YES
Board failure
NO
YES
Trouble Shooting YASNAC MRC
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Page: 23
MOTOMANROBOTICSAB
Alarm 0930 - 0937 Access Error
AL-0930 MIF02 AL-0933 MSL#2 AL-0936 MCP01
AL-0931 AL-0934 AL-0937 MIF01
AL-0932 MSL#1 AL-0935
Alarm Occurrence
Alarmre-occurs?
NO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume useRemove the board corresponding to
the display, then re-install it
Alarmre-occurs?
NO
Resume use
Remove all boards,then re-install them YES
Alarmre-occurs?
NO
Resume use
Replace allboards
YES
Alarmre-occurs?
NO
EPROM failure
YES
Alarmre-occurs?
Board failure
NO
YES
Replace the EPROM of the boardcorresponding to the display
Replace boardcorresponding to the display
Alarmre-occurs?
YES
Board failure
NO
YES
Trouble Shooting YASNAC MRC
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Page: 24
MOTOMANROBOTICS
AB
Alarm 0940 - 0947 A-Bus Error
AL-0940 MIF02 AL-0943 MSL#2 AL-0946 MCP01
AL-0941 AL-0944 AL-0947 MIF01
AL-0942 MSL#1 AL-0945
Alarm Occurrence
Alarmre-occurs?
NO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume useRemove the board corresponding to
the display, then re-install it
Alarmre-occurs?
NO
Resume use
Remove all boards,then re-install them YES
Alarmre-occurs?
NO
Resume use
Replace allboards
YES
Alarmre-occurs?
NO
EPROM failure
YES
Alarmre-occurs?
Board failure
NO
YES
Replace the EPROM of the boardcorresponding to the display
Replace boardcorresponding to the display
Alarmre-occurs?
YES
Board failure
NO
YES
Trouble Shooting YASNAC MRC
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Page: 25
MOTOMANROBOTICSAB
Alarm 0999 NMI Error
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Remove all boards
Alarmre-occurs?
NOYES
Replace EPROMof all boards
Alarmre-occurs?
NO
YES
and then re-install them
EPROM failure Replaceall boards
Alarmre-occurs?
NO
Board failure
Resume use
Trouble Shooting YASNAC MRC
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Page: 26
MOTOMANROBOTICS
AB
Alarm 1010 ROM Error (Syscon)
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Remove the EPROM board on the
Alarmre-occurs?
NOYES
Replace EPROM boardon the MCP01 board
Alarmre-occurs?
NO
YES
MCP01 board and then re-install them
MMM02 failure Replace MCP01board
Alarmre-occurs?
NO
Board failure
Make sure connector hasno loose connections,and then resume use
Trouble Shooting YASNAC MRC
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Page: 27
MOTOMANROBOTICSAB
Alarm 1020 ROM Error (Motion)
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Remove the EPROM board on the
Alarmre-occurs?
NOYES
Replace EPROM boardon the MCP02 board
Alarmre-occurs?
NO
YES
MCP02 board and then re-install them
MMM04 failure Replace MCP02board
Alarmre-occurs?
NO
Board failure
Make sure connector hasno loose connections,and then resume use
Trouble Shooting YASNAC MRC
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Page: 28
MOTOMANROBOTICS
AB
Alarm 1030 ROM Error (CIO)
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Remove the EPROM board on the
Alarmre-occurs?
NOYES
Replace EPROM boardon the MCP01 board
Alarmre-occurs?
NO
YES
MIF01 board and then re-install them
EPROM failure Replace MIF01board
Alarmre-occurs?
NO
Board failure
Make sure connector hasno loose connections,and then resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1040 System Error (Syscon)
1 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 SL Interrupt Not Done
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Replace MCP01board
Board failure
Trouble Shooting YASNAC MRC
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Page: 30
MOTOMANROBOTICS
AB
Alarm 1050 ROM Error (Sensor)
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Remove the EPROM board on the
Alarmre-occurs?
NOYES
Replace EPROM boardon the MSL board
Alarmre-occurs?
NO
YES
MSL board and then re-install it
EPROM failure Replace MSL boardcorresponding to the display
Alarmre-occurs?
NO
Board failure
Make sure connector hasno loose connections,and then resume use
YES
Trouble Shooting YASNAC MRC
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Page: 31
MOTOMANROBOTICSAB
Alarm 1060 System Error (CIO)
01 05 Command Error SYSCONCIO
02 06 System Error
04 FA Communication Bus Error
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Replace MIF01board
Board failure
Trouble Shooting YASNAC MRC
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Page: 32
MOTOMANROBOTICS
AB
Alarm 1070 Fault (Parameter)
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
Alarm Occurrence
Alarmre-occurs?
YESNO
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Board failureContact MOTOMAN-service before
initializing the system config.
Initializethe parameter file
Trouble Shooting YASNAC MRC
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Page: 33
MOTOMANROBOTICSAB
Alarm 1080 Fault (Job data)
Alarm 1090 File Failure (Motion)
Alarm Occurrence
Alarmre-occurs?
YESNO
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Job file destroyedContact MOTOMAN-service before
initializing the system config.
Initializethe job file
Alarm Occurrence
Alarmre-occurs?
YESNO
Turn power OFF,and then ON agian.
Resume use Contact MOTOMAN-service before
initializing the system config.
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1100 File Total Checksum Error (Motion)
Alarm 1110 Set-up Process Error (Syscon)
1 Motion Section Set-up incomplete
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Replace MCP02board
Board failure
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Replace MCP02board
Board failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1120 Wrong Segment Clock Value
Alarm 1130 MMM Error
0 3 Process Not Set
1 Process Definition Table Not Set 4 Process Control Code Not Set
2 Entry Table Overflow
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Reset phase offsetdata file
CMOS file breakdown
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1140 MMM Error
Alarm 1150 Fault
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1160 High Temperature (in Control Box)
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use Turn the power off, let the controllercool inside, and then turn power on again
Alarmre-occurs?
NO
Resume useCheck movement of cooling fan
YES
Alarmre-occurs?
NO
Check wiring cooling fan
YES
Faulty?
NO YES
Replace power unit Alarmre-occurs?
Power unit failure
NO
YES
Replace fan
(CPS-18F)
Alarmre-occurs?
ContactMOTOMAN-service
YES
Fan failure
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1170 Overrun Limit Switch Released
Alarm Occurrence
Alarmre-occurs?
YESNO
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Switch failure
Check the OVERRUN RECOVERY
switch
ContactMOTOMAN-service
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1180 - 1186 Servo Monitor System Error
AL-1180 MSV#1 AL-1183 MSV#4 AL-1186 MSV#7
AL-1181 MSV#2 AL-1184 MSV#5
AL-1182 MSV#3 AL-1185 MSV#6
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Replace MCP01 board
Alarmre-occurs?
NO
YES
Alarmre-occurs?
NO
Board failure
Replace MSV boardcorresponding to the display
Board failure
Board failureReplace MCP02 board
YES
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1190 - 1196 Servo System Error
AL-1190 MSV#1 AL-1193 MSV#4 AL-1196 MSV#7
AL-1191 MSV#2 AL-1194 MSV#5
AL-1192 MSV#3 AL-1195 MSV#6
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON agian.
Resume use
Alarmre-occurs?
NOYES
Replace MCP01 board
Alarmre-occurs?
NO
YES
Alarmre-occurs?
NO
Board failure
Replace MSV boardcorresponding to the display
Board failure
Board failureReplace MCP02 board
YES
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1200 - 1206 Overcurrent
Alarm Occurrence
Conditionat the time
YES
NO
ContactMOTOMAN-service
Faultygrounding
NO
YES
Alarmre-occurs?
NO
YES
Alarmre-occurs?
NOServopack
Check first
YES
of alarm?
Replace servopackcorresponding to the display Running
At servopower ON
At controlpower ON
Go topoint
A
failure
grounding terminal
Check secondground terminal
B
Faultygrounding
Replace servopackcorresponding
Servopack failure
ContactMOTOMAN-service
Checkinternal wiring
Alarmre-occurs?
YES
ContactMOTOMAN-service
Replace motorcorrespondingto the display
to the display
NO
Internal wiringfailure
Alarmre-occurs?
YES
Servomotor failure
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1200 - 1206 Overcurrent (...continued)
AL-1200 MSV#1 AL-1203 MSV#4 AL-1206 MSV#7
AL-1201 MSV#2 AL-1204 MSV#5
AL-1202 MSV#3 AL-1205 MSV#6
NO
ContactMOTOMAN-service
Loadcondition?
NO
Overload
Alarmre-occurs?
YES
Alarmre-occurs?
OK
Decrease
Check firstYES
Replacecooling fan
Go topoint
B
weight
grounding terminal
Faultygrounding
Replace servopackcorresponding
Servopack failure
Checkrobot load
YES ContactMOTOMAN-service
to the display
YES
NO
A
Check movement ofservopack cooling fan
Abnormal?
Alarmoccurs at a
specific point?
YES
FanfailureNO
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1210 - 1216 MCCB Tripped
Alarm Occurrence
Conditionat the time
YES
NO
ContactMOTOMAN
Faultygrounding
NOYES
Alarmre-occurs?
NO
YES
Alarmre-occurs?
NOServopack
Check first
YES
of alarm?
Replace servopackcorresponding to the display
Running
At servopower ON
At controlpower ON
Go topoint
A
failure
grounding terminal
Check secondground terminal
B
Faultygrounding
Replace servopackcorresponding
ContactMOTOMAN-service
Replaceinternal wiring
Alarmre-occurs?
YES
ContactMOTOMAN-service
Replace motorcorrespondingto the display
to the display
NO
Internal wiringfailure
Alarmre-occurs?
YESNO
Turn ON theMCCB
service
NO
Resume useYES
Alarmre-occurs?
Servopack failure
Motor failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1210 - 1216 MCCB Tripped (...continued)
AL-1210 MSV#1 AL-1213 MSV#4 AL-1216 MSV#7
AL-1211 MSV#2 AL-1214 MSV#5
AL-1212 MSV#3 AL-1215 MSV#6
NO
Loadcondition?
Overload
Alarmre-occurs?
OK
Check firstYES
Go topoint
B
grounding terminal
Faultygrounding
Replace servopackcorresponding
Servopack failure
Checkrobot load
YES ContactMOTOMAN-service
to the display
YES
NO
A
Alarmoccurs at a
specific point?
NO
Decreaseweight
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1220 - 1226 Ground Fault
Alarm Occurrence
Conditionat the time
YES
NO
ContactMOTOMAN-service
Faultygrounding
NO
YES
Alarmre-occurs?
NO
YES
Alarmre-occurs?
NOServopack
Check first
YES
of alarm?
Replace servopackcorresponding to the display Running
At servopower ON
At controlpower ON
Go topoint
A
failure
grounding terminal
Check secondground terminal
Faultygrounding
Replace servopackcorresponding
Servopack failure
ContactMOTOMAN-service
Checkinternal wiring
Alarmre-occurs?
YES
ContactMOTOMAN-service
Replace motorcorrespondingto the display
to the display
NO
Internal wiringfailure
Alarmre-occurs?
YESServo motor
failure
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1220 - 1226 Ground Fault (...continued)
AL-1220 MSV#1 AL-1223 MSV#4 AL-1226 MSV#7
AL-1221 MSV#2 AL-1224 MSV#5
AL-1222 MSV#3 AL-1225 MSV#6
NO
ContactMOTOMAN-service
NO
Alarmre-occurs?
YES
Alarmre-occurs?
Check first
YES
grounding terminal
Faultygrounding
Replace servopackcorresponding
Servopack failure
YES
ContactMOTOMAN-service
to the display
YES NO
A
Alarmoccurs at a
specific point?
YES
Motorfailure
NO
NO
Check secondground terminal
Faultygrounding
Checkinternal wiring
Internal wiringfailure
Alarmre-occurs?
ContactMOTOMAN-service
YESNO
Replace motorcorresponding to the display
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1230 - 1236 Defective Current Offset
AL-1230 MSV#1 AL-1233 MSV#4 AL-1236 MSV#7
AL-1231 MSV#2 AL-1234 MSV#5
AL-1232 MSV#3 AL-1235 MSV#6
Alarmre-occurs?
YES
Servopack failure
ContactMOTOMAN-service
NO
Alarm Occurrence
Replace servopackcorresponding to the display
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1240- 1246 Encoder Transmission Error
AL-1240 MSV#1 AL-1243 MSV#4 AL-1246 MSV#7
AL-1241 MSV#2 AL-1244 MSV#5
AL-1242 MSV#3 AL-1245 MSV#6
Alarm Occurrence
Alarmre-occurs?
NO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use
Remove the cable between MSVboard and IAMP, then re-install it
Alarmre-occurs?
NO
Resume use
YES
Alarmre-occurs?NOResume use
Reset absoluteencoder
YES
Alarmre-occurs?
NO
YES
Alarmre-occurs?
Motor failure
NO
YES
Remove the cable between the encoder and IAMP, then
Check the cable groundbetween encoder and IAMP
Alarmre-occurs?
YES
Cable failure
NOYES
Remove the cable between encoder and IAMP, then re-install it
install connector from another axis
Replace the servopack
Check the cablebetween encoder and IAMP
Alarmre-occurs?
Resume use
NO
Replace theservomotor
Alarmre-occurs?
NOYES
Alarmre-occurs?Servopack failure NO
YES
Replace MSV board
Alarmre-occurs?
YESBoard failure
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1250 - 1256 Defective Encoder Internal Data
AL-1250 MSV#1 AL-1253 MSV#4 AL-1256 MSV#7
AL-1251 MSV#2 AL-1254 MSV#5
AL-1252 MSV#3 AL-1255 MSV#6
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use
Alarmre-occurs?
NOYES
Alarmre-occurs?
NO
Reset absolute encodercorresponding to the displayed axis
Motor failure
YES
Replace motor correspondingto the displayed axis
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1260 - 1266 Defective Encoder Absolute Data
AL-1260 MSV#1 AL-1263 MSV#4 AL-1266 MSV#7
AL-1261 MSV#2 AL-1264 MSV#5
AL-1262 MSV#3 AL-1265 MSV#6
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Resume use
Alarmre-occurs?
NOYES
Alarmre-occurs?
NO
Motor failure
YES
Reset absolute encodercorresponding to the displayed axis
Replace motor correspondingto the displayed axis
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1270 - 1276 Encoder Overheat
AL-1270 MSV#1 AL-1273 MSV#4 AL-1276 MSV#7
AL-1271 MSV#2 AL-1274 MSV#5
AL-1272 MSV#3 AL-1275 MSV#6
Alarm Occurrence
Conditionat the time
NO
ContactMOTOMAN-service
NO
YES
Alarmre-occurs?
YES
Alarmre-occurs?
NO
of alarm?Running
At controlpower ON
Faultywiring?
Replace internal wiring
Check wiring
YES
Internal wiringfailure
Alarmre-occurs?
YES
NO
Loadcondition?
Overload
Decrease
Replacecooling fan
weight
CheckRobot load Abnormal?
Fanfailure
NO
Resume use
Alarmre-occurs?
NO
Motor failure
Go topoint
A
YES
A
Reset absolute encodercorresponding to the
displayed axis
Replace motor
If motor has coolingfan check if fan is
working
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1280- 1286 Servo Monitor Transmission Error
AL-1280 MSV#1 AL-1283 MSV#4 AL-1286 MSV#7
AL-1281 MSV#2 AL-1284 MSV#5
AL-1282 MSV#3 AL-1285 MSV#6
Alarm Occurrence
Alarmre-occurs?
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Remove the cable between MSVboard and IAMP, then re-install it
Alarmre-occurs?
NO
Resume use
NO
YES
Alarmre-occurs?
YES
Cable failure
YES
Replace the
Check the cable wiringbetween MSV board and IAMP
NOAlarm
re-occurs?
NO
YES
Servopack failure
Replace MSV board
Alarmre-occurs?
YES
Board failure
Resume use
Faultywiring
Replace cable servopack
YES
NO
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1290 -1296 Servo CPU Synchronizing Error
Alarm 1300 -1306 DSP Program Checksum Error
AL-1290 MSV#1 AL-1293 MSV#4 AL-1296 MSV#7
AL-1291 MSV#2 AL-1294 MSV#5
AL-1292 MSV#3 AL-1295 MSV#6
AL-1300 MSV#1 AL-1303 MSV#4 AL-1306 MSV#7
AL-1301 MSV#2 AL-1304 MSV#5
AL-1302 MSV#3 AL-1305 MSV#6
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Replace MSV board
Board failure
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Replace MSV board
Board failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1310 -1316 Mon Pgrm Total Checksum Error
AL-1310 MSV#1 AL-1313 MSV#4 AL-1316 MSV#7
AL-1311 MSV#2 AL-1314 MSV#5
AL-1312 MSV#3 AL-1315 MSV#6
Alarm Occurrence
Alarmre-occurs?
YESNO
ContactMOTOMAN-service
Replace MSV board
Board failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1320- 1326 Servopack Failure
AL-1320 MSV#1 AL-1323 MSV#4 AL-1326 MSV#7
AL-1321 MSV#2 AL-1324 MSV#5
AL-1322 MSV#3 AL-1325 MSV#6
Alarm Occurrence
Alarmre-occurs?
ContactMOTOMAN-service
Turn power OFF,and then ON again.
Remove the cable between MSVboard and IAMP, then re-install it
Alarmre-occurs?
NO
Resume use
NO
YES
Alarmre-occurs?
YES
Cable failure
YES
Replace the
Check the cable wiringbetween MSV board and IAMP
NOAlarm
re-occurs?
NO
YES
Servopack failure
Replace MSV board
Alarmre-occurs?
YES
Board failure
Resume use
Faultywiring
Replace cable servopack
YES
NO
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1330- 1336 Position Error
Alarm Occurrence
ContactMOTOMAN-service
NOMoved to
another axis?
Cable failure
YES
Replace the
Alarmre-occurs?
Replace MSV board
Alarmre-occurs?
YES
Board failureFaultywiring
Replace cable
servo motor
YES
NO
Conditionat the time
NO
Alarmre-occurs?
of alarm?Running
At servopower ON
At controlpower ON
Go topoint
A
Replace the cable betweenencoder and IAMP with acable from another axis
Check wiring
YES
NO
NO
Motor failure
YES
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1330- 1336 Position Error (... continued)
AL-1330 MSV#1 AL-1333 MSV#4 AL-1336 MSV#7
AL-1331 MSV#2 AL-1334 MSV#5
AL-1332 MSV#3 AL-1335 MSV#6
ContactMOTOMAN-service
NO
Cable failure
YES
Replace the
Alarmre-occurs?
Replace MSV board
Alarmre-occurs?
YES
Board failure
Faultywiring
Replace cable
servo motor
YES
NOAlarm
re-occurs?
Check wiring
YES
NO
NO
Motor failure
YES
A
Is there anoise sourcearound?
Remove the noise source
Resume use
Alarmre-occurs? YES
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1340- 1346 Overload 1
AL-1340 MSV#1 AL-1343 MSV#4 AL-1346 MSV#7
AL-1341 MSV#2 AL-1344 MSV#5
AL-1342 MSV#3 AL-1345 MSV#6
Alarm Occurrence
ContactMOTOMAN-service
Cable failure
YES
Alarmre-occurs?
Replace MSV board
Alarmre-occurs?
YES Board failure
Faultywiring
Replace wiring
YES
Conditionat the time
NO
Alarmre-occurs?
of alarm?Running
At controlpower ON
Go topoint
A
Check
NO
Teaching error
How longafter Servo ON
does alarmoccur?
Right away After severalminutes
Loadcondition?
Overload
Reduce load
CheckRobot load
Check forinterference
Interference?
Modify teaching
OK
motor wiring
NO
NO
YES
NO
YES
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1340- 1346 Overload 1 (...continued)
ContactMOTOMAN-service
YES
Alarmre-occurs?
Replace MTU board
Alarmre-occurs?
YES
Faultywiring
Replace SVM
YESNO
Alarmre-occurs?
Check brake
NO
Input voltage Abnormalcondition?
Checkbrake circuit
Check ifmechanically locked
Defective?
lead wiring
NO
NO
YES
NOYES
AIs brakerelease
audiable?
abnormal
Input voltagenormal
Replace wiringResume use
Resume use
Checkmotor brake
NO
Resume use
YES
NO
Replace the servo motor
Alarmre-occurs?
NO
Resume use
Fix mechanicalproblem
Movable?
ContactMOTOMAN-service
YES YES
Alarmre-occurs?
NO
Resume use
YES
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1350- 1356 Overload 2
AL-1350 MSV#1 AL-1353 MSV#4 AL-1356 MSV#7
AL-1351 MSV#2 AL-1354 MSV#5
AL-1352 MSV#3 AL-1355 MSV#6
Alarm Occurrence
ContactMOTOMAN-service
Cable failure
YES
Alarmre-occurs?
Replace MSV board
Alarmre-occurs?
YES Board failure
Faultywiring
Replace wiring
YES
Conditionat the time
NO
Alarmre-occurs?
of alarm?Running
At controlpower ON
Go topoint
A
Check
NO
Teaching error
How longafter Servo ON
does alarmoccur?
Right away After severalminutes
Loadcondition?
Overload
Reduce load
Checkrobot load
Check forinterference
Interference?
Modify teaching
OK
motor wiring
NO
NO
YES
NO
YES
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1350- 1356 Overload 2 (...continued)
ContactMOTOMAN-service
YES
Alarmre-occurs?
Replace MTU board
Alarmre-occurs?
YES
Faultywiring
Replace SVM
YESNO
Alarmre-occurs?
Check brake
NO
Input voltage Abnormalcondition?
Checkbrake circuit
Check ifmechanically locked
Defective?
lead wiring
NO
NO
YES
NOYES
AIs brakerelease
audiable?
abnormal
Output voltageabnormal
Replace wiringResume use
Resume use
Checkmotor brake
NO
Resume use
YES
NO
Replace the servo motor
Alarmre-occurs?
NO
Resume use
Fix mechanicalproblem
Movable?
ContactMOTOMAN-service
YES YES
Alarmre-occurs?
NO
Resume use
YES
NO
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1360-1366 Broken PG Line
Conditionat the timeof alarm?
1At controlpower on Running
At servopower on
Replace cable between encoder &IAMP with cable from another axis
Faultywiring?
Move toother axis?
Replace MSVboard
Check wiring
YES
NO
Alarmre-occurs?
MSV board failure
Replace cable
NO
YES
Replace servopack
Alarmre-occurs?
Servopack failure
Cable failure
YES
NO
NO
Replace motorAlarm
re-occurs?YES
YES
NO
Alarmre-occurs? NO
Replace cable betweenIAMP and MSV
Alarmre-occurs?
YES
Replace motor
Alarmre-occurs?
Contact MOTOMAN-service
NO
Contact MOTOMAN-service
Motor failureYES
NO
Cable failure
Motor failureYES
Alarm Occurrence
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MOTOMANROBOTICSAB
Alarm 1360-1366 Broken PG Line (...continued)
AL-1360 MSV#1 AL-1363 MSV#4 AL-1366 MSV#7
AL-1361 MSV#2 AL-1364 MSV#5
AL-1362 MSV#3 AL-1365 MSV#6
1
Check wiring YES
Alarmre-occurs?
MSV board failure
Replace servopack
Cable failure
Alarmre-occurs? YES
YES
NO
NO
YES
Replace motorAlarm
re-occurs?
NO
Contact MOTOMAN-service
Motor failure
YES
NO
Servopack failure
Motor failure
YES
Is there a noisesource around?
Remove noisesourceYES
NO
Faultywiring?
Alarmre-occurs?
NO
Replace motor
Alarmre-occurs?
NO
Resume useNO
YES Replace cable
YES NO Cable failure
MSV board failure
Alarmre-occurs?
Replace cable betweenIAMP and MSV
Alarmre-occurs?
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1370-1376 Over Speed
AL-1370 MSV#1 AL-1373 MSV#4 AL-1376 MSV#7
AL-1371 MSV#2 AL-1374 MSV#5
AL-1372 MSV#3 AL-1375 MSV#6
Check wiring YES
Alarmre-occurs?
Reduce speed
NO
Alarmre-occurs?
YES
YES
NO
YES
Alarmre-occurs?
Contact MOTOMAN-service Resume use
YES
NO
YES
Is there a noisesource around?NO
Faultywiring?
Alarmre-occurs?
Alarmre-occurs?
NO
YES
Replace cable
YES
NO
Cable failureAlarm occurs
at specific point?
YESRemove noise
source
Resume use
Replace MSV board
Replace motor
1
Condition at thetime of alarm
NO
At servopower on
At servopower on
1
1
Running
Point of alarm
Multiple axes
taught by MOVJ?
moving at thesame time?
1
NO
YESNO
NO MSV board failure
Motor failure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1380-1386 Servo Tracking Error
AL-1380 MSV#1 AL-1383 MSV#4 AL-1386 MSV#7
AL-1381 MSV#2 AL-1384 MSV#5
AL-1382 MSV#3 AL-1385 MSV#6
Decrease weight
YES
YES
NO
YES
Alarmre-occurs?
Contact MOTOMAN-service
NO
YES
NO
Faultywiring?
Alarmre-occurs?
Alarmre-occurs?
NOModify teaching
Loadcondition?YES
Replace wiringharness
Check load
Replace MSV board
Interference?
At controlpower on
Running
NO
MSV board failure
Wiring failure
Condition at thetime of alarm?
Check if robot interfereswith work or fixture
Teaching error
Check motorwiring
OK
Overload
1
1
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 1380-1386 Servo Tracking Error (...continued)
YES
YES
NO
YES
Alarmre-occurs?
NO
YES
NO
Faultywiring?
Alarmre-occurs?
NO
YES
Replace wiringharness
Replace SVM
Movable?
NO
Is brake release audible?
Check if mechanicallylocked
Check brakelead wiring
1
Check motorbrake
Check brakecircuit
Output voltageabnormal
Input voltageabnormal
Abnormalcondition?
Replace MTU board
Contact MOTOMAN
service
Resume use
Alarmre-occurs?
Resume use
NO
Replace motor
Defective?NO
YES
Alarmre-occurs?
NO
Resume use
YESFix mechanical
problem
Alarmre-occurs?
Contact MOTOMAN-service
Contact MOTOMAN-service
Resume use
YESYES
NO
NO
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 1390-1396 Speed (Monitor)
AL-1390 MSV#1 AL-1393 MSV#4 AL-1396 MSV#7
AL-1391 MSV#2 AL-1394 MSV#5
AL-1392 MSV#3 AL-1395 MSV#6
YES
YES
NO
YES
Alarmre-occurs?
NO
YES
NO
Faultywiring?
Alarmre-occurs?
Alarmre-occurs?
NOYES
Reduce speed
NO
Motor failure
Check wiring
1
1
Is there a noisesource around?
Replace cable
Alarmre-occurs?
Remove noisesource
Resume use
At controlpower on
Condition at thetime of alarm? Running
Replace MSV board
Replace motor
YES
Contact MOTOMAN
service
At servopower on
1NO Cable failure
Alarm occursat specific point?
Point of alarm
Multiple axes
taught by MOVJ
moving at thesame time?
YES
YES
1
NO
YES
YES
Resume use
Alarmre-occurs?NO
NO
NO
failureMSV board
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 3000-3006 Not Ready For Servo System
AL-3000 MSV#1 AL-3003 MSV#4 AL-3006 MSV#7
AL-3001 MSV#2 AL-3004 MSV#5
AL-3002 MSV#3 AL-3005 MSV#6
NO
YES
Alarmre-occurs?
NO
Cable failure
Check MTU board
Replace cable
1
NO
YES
YES 1
NO
YES
YES
Resume use
Alarmre-occurs?
NO
NO
Check cable between
Turn the power offand then on again
Alarmre-occurs?Resume use
Is SVMworking?NO
Alarmre-occurs?
Defective? NO
YES
Replace MTU board
Replace SVM
Check primarypower voltageYES
Defective?
Resume use
servopack and MSV board
Defective? 1
YES 1
Primary powerfailure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 3000-3006 Not Ready For Servo System (...continued)
YES
Cable failure
Replace cable
1
NO
YES
NO
YESAlarm
re-occurs?
Check cable between
Alarmre-occurs?
NO
Alarmre-occurs?
Defective?
NO
Replace servopack YES
servopack and SVM
Servopack failure
Replace MSV board
MSV boardfailure
Contact MOTOMAN
service
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 3010-3016 Servo Defective Speed
AL-3010 MSV#1 AL-3013 MSV#4 AL-3016 MSV#7
AL-3011 MSV#2 AL-3014 MSV#5
AL-3012 MSV#3 AL-3015 MSV#6
YES NO
YES
NO
Alarmre-occurs?
NO
Alarmre-occurs?
YES
Replace MSV board
MSV boardfailure
Contact MOTOMAN
service
Are you trying toturn power on while
axis is moving
Try power on whileaxis is stopped
Resume use
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 3020-3026 Servo Defective DB
AL-3020 MSV#1 AL-3023 MSV#4 AL-3026 MSV#7
AL-3021 MSV#2 AL-3024 MSV#5
AL-3022 MSV#3 AL-3025 MSV#6
YES
NO
YES
NO Alarmre-occurs? NO
Alarmre-occurs?
Replace MSV board
MSV boardfailure
Turn the power offand then on again
Replace servopack
Alarmre-occurs?
YES
Contact MOTOMAN
service
Resume use
Servopack failure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 3030-3036 Regenerative Trouble
AL-3030 MSV#1 AL-3033 MSV#4 AL-3036 MSV#7
AL-3031 MSV#2 AL-3034 MSV#5
AL-3032 MSV#3 AL-3035 MSV#6
YES
NO
YES
NO
NO
Alarmre-occurs?
Replace regenerationresistor
Check regenerationresistor
Replace
Alarmre-occurs?YES
Servopack failure
Condition at thetime of alarm?
At controlpower on
At servopower on
Defective?servopack
Contact MOTOMAN-service
Regenerationresistor failure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 3040-3046 Overvoltage
AL-3040 MSV#1 AL-3043 MSV#4 AL-3046 MSV#7
AL-3041 MSV#2 AL-3044 MSV#5
AL-3042 MSV#3 AL-3045 MSV#6
YES
NO YES
NO
Alarmre-occurs?
Replace regenerationresistor
Check primarypower voltage
Replace
Alarmre-occurs?YES
Servopack failure
Condition at thetime of alarm?
At controlpower on
At servopower on
Abnormal?
servopack
Contact MOTOMAN-service
Regenerationresistor failure
Check regenerationresistor
Defective?
NO
YES
NO
Primary powerfailure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 3050-3056 Voltage Drop
AL-3050 MSV#1 AL-3053 MSV#4 AL-3056 MSV#7
AL-3051 MSV#2 AL-3054 MSV#5
AL-3052 MSV#3 AL-3055 MSV#6
YESNO
YESAlarm
re-occurs?
Check primarypower voltage
Replace
Servopack failure
Condition at thetime of alarm?
At controlpower on
At servopower on
Abnormal?servopack
Contact MOTOMAN-service
NO
Primary powerfailure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 3060-3066 Heat sink overheat
AL-3060 MSV#1 AL-3063 MSV#4 AL-3066 MSV#7
AL-3061 MSV#2 AL-3064 MSV#5
AL-3062 MSV#3 AL-3065 MSV#6
YESNO
YESAlarm
re-occurs?
Check primarypower voltage
Replace
Servopack failure
Condition at thetime of alarm?
At controlpower on
At servopower on
Abnormal?servopack
Contact MOTOMAN-service
NO
Primary powerfailure
Alarm Occurrence
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 3070-3076 Servo Blown Fuse
AL-3070 MSV#1 AL-3073 MSV#4 AL-3076 MSV#7
AL-3071 MSV#2 AL-3074 MSV#5
AL-3072 MSV#3 AL-3075 MSV#6
YESNO
YESAlarm
re-occurs?
Check motorcable
Replace
Servopack failure
Condition at thetime of alarm?
At controlpower on
At servopower on
Abnormal?servopack
Contact MOTOMAN-service
NO
Replace wiringharness
Alarm Occurrence
YESAlarm
re-occurs?
NO
Wiring failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 3080-3086 Broken Current Ref Cable
AL-3080 MSV#1 AL-3083 MSV#4 AL-3086 MSV#7
AL-3081 MSV#2 AL-3084 MSV#5
AL-3082 MSV#3 AL-3085 MSV#6
YES
NO
YES
Alarmre-occurs?
Replace
Servopack failure
servopack
Contact MOTOMAN-service
NO
MSV boardfailure
Alarm Occurrence
YES
Alarmre-occurs?
NO
Replace cable
Check cable betweenservopack and MSV board
Defective?
ReplaceMSV board
Alarmre-occurs?
NO
YES
Cable failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 3090-3096 Open Phase
AL-3090 MSV#1 AL-3093 MSV#4 AL-3096 MSV#7
AL-3091 MSV#2 AL-3094 MSV#5
AL-3092 MSV#3 AL-3095 MSV#6
YESNO
YES
Alarmre-occurs?
Replace
Servopack failure
servopack
Contact MOTOMAN-service
NOContactor
failure
Alarm Occurrence
YES
Alarmre-occurs?
NO
Replace cable
Check primarypower voltage
Abnormal?
ReplaceMSV board
Alarmre-occurs?
NO
YES
Cable failure
Replacecontactor
Primary powerfailure
Check if contactoris stuck or not
Abnormal?
Check cable forSVM contactor
Abnormal?
NO
YES
NO
YES
Abnormal?
YES
NO
failureMSV board
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4000 Not Ready
Alarm 4010 Current Position Set Program Error
Alarm 4020 Servo Power On Sequence Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4030 Servo Power Off Sequence Error
Alarm 4040 Home Calibration Error
Alarm 4050 Absolute Data Change Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4060 Segment Data Output Error
Alarm 4070 Axis Parameter Error
Alarm 4080 Table Parameter Error For Actual Axis
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Initialize parametersetting
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Initialize parametersetting
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4090 Sequence Task Control Error
Alarm 4100 Data Refresh Error
Alarm 4110 Undefined Command (Arith)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4120 System Error (Arith)
Alarm 4130 Arithmetic Error
Alarm 4140 Select Error (Parameter)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4150 Group Axis Control Error
Alarm 4160 Two Steps Same Position (Circle)
Alarm 4170 Two Steps Same Position (Spline)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program, andthen input three different points
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program, andthen input three different points
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4180 Two Steps Same Position (3 steps)
Alarm 4190 Two Steps Same Position (weave)
Alarm 4200 Teach Error (Spline)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program, andthen input three different points
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program, andthen input three different points
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program,and then provide instructions toposition taught points correctly
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4210 Impossible Linear Motion (L/U)
Alarm 4220 Impossible Linear Motion (S/L)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taughtprogram so the pattern
of L and U axes is the same
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taughtprogram so the pattern
of S and L axes is the same
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4230 Excessive Segment (Low speed)
Alarm 4240 Excessive Segment (High speed)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Decrease the speed of the stepwhere the alarm occured
Set form of axes S and L,and provide a new instruction
Alarmre-occurs?NO YES
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Decrease the speed of the stepwhere the alarm occured
Set form of axes S and L,and provide a new instruction
Alarmre-occurs? YESNO
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4250-4300 Soft Limit Over
Alarm 4310-4340 Mechanical Interference
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
AL-4310 Mechanical interference: minimum
AL-4330 Special mechanical interference: maximum
AL-4320 Mechanical interference: maximum
AL-4340 Special mechanical interference: minimum
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm using soft-limit-overreset method, and then provide
another instruction
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm using soft-limit-overreset method, and then provide
another instruction.
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4350-4360 Pulse Mechanical limit
Alarm 4370 Station Axis Data Input Error
AL-4350 Pulse mechanical limit: minimum AL-4360 Pulse mechanical limit: maximum
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm using soft-limit-overreset method, and then provide
another instruction.
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4380 Segment Control Error
Alarm 4390 Sub-segment Control Error
Alarm 4400 Wrong Specified Control Group
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 91
MOTOMANROBOTICSAB
Alarm 4410 CPU Communication Error
Alarm 4420 Failed To Select Over SP Level
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Turn the power off,and then on again
Alarmre-occurs? NO
Resume use
YES
Replace MSV board
Alarmre-occurs? YESNO
MSV board failure
Trouble Shooting YASNAC MRC
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Page: 92
MOTOMANROBOTICS
AB
Alarm 4430 Averaging Number Change Error
Alarm 4440 Torque Limit Change Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Turn the power off,and then on again
Alarmre-occurs? NO
Resume use
YES
Replace MSV board
Alarmre-occurs? YESNO
MSV board failure
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Turn the power off,and then on again
Alarmre-occurs? NO
Resume use
YES
Replace MSV board
Alarmre-occurs? YESNO
MSV board failure
Trouble Shooting YASNAC MRC
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Page: 93
MOTOMANROBOTICSAB
Alarm 4450 JMS Error
Alarm 4460 JHM Error
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 Code error
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
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Turn the power off,and then on again
Trouble Shooting YASNAC MRC
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Page: 94
MOTOMANROBOTICS
AB
Alarm 4470 Instruction Interpreter Error
Alarm 4480 Undefined Global Variable
Alarm 4490 Var-Scoreboard Control Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Turn the power off,and then on again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset the parameter, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 95
MOTOMANROBOTICSAB
Alarm 4500 Undefined Local Variable
Alarm 4510 Less Than 3 Steps (circular)
Alarm 4520 Cannot Interpolate Circular Motion
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Set the local variable to the job headeand then execute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program, andthen input instructions to provide
more than three steps continuously
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Confirm the taught program, andthen input instructions to provide
more than three steps continuously
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4530 Undefined Job
Alarm 4540 Undefined Label
Alarm 4550 Undefined Return Job
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, end thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check the taught point, andthen teach the point again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Start from the original job
Check the taught point, andthen teach the point again
Alarmre-occurs?NO YES
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4560 Lack Of Local-Variable Area
Alarm 4570 Local-Variable Control Error
Alarm 4580 Job Call Stack Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Decrease the useof local variables
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 98
MOTOMANROBOTICS
AB
Alarm 4590 Feedback Pulse Making Error
Alarm 4600 Unsuccessful Fine Positioning
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Turn the power off,and then on again
Alarmre-occurs?YES NO
Replace MSV board Resume use
Alarmre-occurs?NO YES
MSV board failure
Trouble Shooting YASNAC MRC
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Page: 99
MOTOMANROBOTICSAB
Alarm 4610 Pending Block-End Error
Alarm 4620 Data Preset Error
Alarm 4630 Variable Data Type Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 100
MOTOMANROBOTICS
AB
Alarm 4640 Over Variable Limit
Alarm 4650 Defective Taught Point (circular)
Alarm 4660 Weaving Control Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Change value of variable type thatexceeds numerical range limits.
(B**) ‘0-255(I**) -32768~32767(D**) -2147483648
~214748(R**) -1.70141E+38
~1.70141E
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check taught point, and then teachthree points not in a straight line
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and then checkweave file and REFP points
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 4670-4671 Overrun In Axis
AL-4670 At robot axes occurrence AL-4671 At external axes occurrence
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Recover from overtravelthen try again
Check short switch on MBB02
Abnormal?YES
NO
Set the swith again
Swith setting failure
Check the overrun limit switch
YESAlarm
re-occurs?NO
Defective?YES
NO
Replace switch
Alarmre-occurs?
Check the wiring of theoverrun limit switch
YESNO
Switch failure Alarmre-occurs?
Replace wiringharness
Alarmre-occurs?
NO
Lead failure
NO
YES
Replace MTU board
YES
Alarmre-occurs?
NO
Board failure
YESReplace MBB02
(IOBB) board
Alarmre-occurs? YESNO
MBB02 (IOBB)failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 4680-4730 File Fault
Alarm 4740 Posn File Data Read-Out Error
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
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Load the file corresponding tothe screen, and then try again
Alarmre-occurs?NO YES
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 103
MOTOMANROBOTICSAB
Alarm 4750 Unmatched Posn Var Data Type
Alarm 4760 File No. Error
Alarm 4770 Undefined Reference Point
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Change position variable datatype (pulse - XYZ).
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Register the reference point
Trouble Shooting YASNAC MRC
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Page: 104
MOTOMANROBOTICS
AB
Alarm 4780 Stack More Than 8 (job call)
Alarm 4790 Arithmetic Section Request Error
Alarm 4800 Request-To-Send Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check program, and modify so thatstack does not exceed 8 calls
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 105
MOTOMANROBOTICSAB
Alarm 4810 Over Variable No.
Alarm 4820 Position Data Management Error
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
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check program, and changevariable number within limit
(B000~B039)(I000~I039)D000~D039)R000~R039)P000~P127)BP000~BP127)EX000~EX127)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 106
MOTOMANROBOTICS
AB
Alarm 4830-4850 Undefined Condition File
Alarm 4860 Wrong Welder Selection
AL-4830 Welder condition file AL-4850 Arc end condition file
AL-4840 Arc start condition file
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Complete thesetting of the file
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Match unit of voltageselection to welder type
Trouble Shooting YASNAC MRC
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Page: 107
MOTOMANROBOTICSAB
Alarm 4870-4900 Condition File Fault
Alarm 4910 AX-CPU Command Area Error
AL-4870 Welder condition file AL-4890 Arc end condition file
AL-4880 Arc start condition file AL-4900 Arc condition supp. file
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Load file, and the try again
Alarmre-occurs? YESNO
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 108
MOTOMANROBOTICS
AB
Alarm 4920-4950 File Fault
Alarm 4960 System Change
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
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Load file, and then try again
Alarmre-occurs? YESNO
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Turn the power off,and then on again
Trouble Shooting YASNAC MRC
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Page: 109
MOTOMANROBOTICSAB
Alarm 4970 Equation Exception Error
Alarm 4980 Excessive Instruction Equation
Alarm 4990 Encoder Battery Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check the program, and make the expression short
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Battery failure
NO
Reset alarm, and thenexecute the operation again
Replace batteryboard for encoder
Alarmre-occurs? YESNO
MFC board failure
Trouble Shooting YASNAC MRC
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Page: 110
MOTOMANROBOTICS
AB
Alarm 5000 Encoder Overheat
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Lead failure
NO
Turn the power off, let encoder
Defective?
YES
NO
Check the wiring of fan
cool, and then turn the power on
If motor has cooling fan, checkif fan is working properly
Is fanworking?
Replace fan wiring
Alarmre-occurs?
YES
NO
YES Replace fan
Alarmre-occurs?
NO
Fan failure
YES
Check load
Loadcondition? OK
Overload
Decrease weight
Replace motor
Motor failure
Alarmre-occurs?
NO
YES
Trouble Shooting YASNAC MRC
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Page: 111
MOTOMANROBOTICSAB
Alarm 5010 Illegal Parameter
Alarm 5020 Zero Divisor Occurrence
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Change the parameterback to original
Load parameter file,and then try again
Alarmre-occurs?NO YES
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Change the program so that thenumber will not be divided by zero
Trouble Shooting YASNAC MRC
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Page: 112
MOTOMANROBOTICS
AB
Alarm 5030 Global-Variable Area Parameter Error
Alarm 5040 Out Of Range (abso data)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Change the parameterback to original value
Load parameter file,and then try again
Alarmre-occurs?NO YES
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO Defective?
NO
YES Replace battery
Reset alarm by checkingsecond home position
Check battery wiringto encodeers
Replace motor YESAlarm
re-occurs?
Alarmre-occurs?
YES
NOMotor failure NO
Battery failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5060 Undefined Auto-Weld Release Cond
Alarm 5070 Undefined Position For Arc Retry
Alarm 5080 Overspeed Limit
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Set welding release conditiontime, and then try again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Add step, and then try again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check setting for MFC04board, and then try again
Trouble Shooting YASNAC MRC
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Page: 114
MOTOMANROBOTICS
AB
Alarm 5090 DC 24V Power Supply Failure
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Fuse failureNO
Defective?
YES
NO
Alarmre-occurs?YES
NO
Replace fuse
Alarmre-occurs?
Check 24V power voltagesupplied to IOBB
Check fuse on IOBB
Defective?
Replace IOBB
Replace DC 24Vpower supply
NOPower supply
failure
YES
YES
NO Board failure
Trouble Shooting YASNAC MRC
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Page: 115
MOTOMANROBOTICSAB
Alarm 5100 Shock Sensor Action
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Sensor failure
NO
Interference?
YES
NO
Alarmre-occurs? YES
NO
Alarmre-occurs?
Defective?
Replace MTUboard
NO
YES
YES
NO
Cable failure
Remove interference betweenthe tool and the fixture, etc
Remove interference,and then try again
Check the shocksensor cable
Resume use
Check the shocksensor operation
Replace cable
Abnormal?Check the setting ofIOBB short pin switch
Abnormal?
NO
YES Set the shortpin switch
YES
NO
Setting failureAlarm
re-occurs?
Replace shock sensor
Alarmre-occurs? NO
YES
MTU boardfailure
YES
Replace MRY board
Alarmre-occurs?
NO
MRY board failure
YES
Replace IOBB
Alarmre-occurs?
YES
Contact MOTOMAN-service
NO IOBB failure
Trouble Shooting YASNAC MRC
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Page: 116
MOTOMANROBOTICS
AB
Alarm 5110 Brake Fuse Blown
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? NO
Short?
YES
NO
Alarmre-occurs?
YES
NO
Check the
NO
YES
YES
Fuse failure
Check the brake lead wiringfor short to ground
Replace leadwire for brake
brake fuse
Lead wire failure
Fuse blown?
Replace theMTU board
Replace thebrake fuse
Alarmre-occurs?
Board failure
Trouble Shooting YASNAC MRC
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Page: 117
MOTOMANROBOTICSAB
Alarm 5120 Parity Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? NO
YES
NO
Alarmre-occurs?
YES
NO
Check input
NO
YES
YES
parity check function
Abnormal?
Replace the MTUboard
Check theinput program
Alarmre-occurs?
Board failure
Check the parameter for
Invalidparameter?
Set the parametercorrectly
Parameter settingfailure
Abnormal input
NO
Trouble Shooting YASNAC MRC
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Page: 118
MOTOMANROBOTICS
AB
Alarm 5130 Over BCD Range
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? NO
YES
NO
Alarmre-occurs?
YES
NO
Check
NO
YES
YES
function parameter
Abnormal?
Alarmre-occurs?
Board failure
Check the BCD
Invalidparameter?
Set the parametercorrectly
Parameter settingfailure
NO
input/output
Check the input/output program
Input/outputfailure
Replace IOmodule board
Trouble Shooting YASNAC MRC
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Page: 119
MOTOMANROBOTICSAB
Alarm 5140 Over Binary Range (parity check)
Alarm 5150 Offline Undefined Command (Arith)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? NO
YES
NO
Alarmre-occurs?
YES
NO
Check
NO
YES
YES
Abnormal?
Alarmre-occurs?
Board failure
Invalidparameter?
Set the parametercorrectly
Parameter settingfailure
NO
output
Check theoutput program
Replace IOmodule board
Check parity check - BCDfunction parameter
Output failure
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 120
MOTOMANROBOTICS
AB
Alarm 5160 Offline System Error (Arith)
Alarm 5170 Robot Calibration Data Error
Alarm 5180 Robot Calibration Frame Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 121
MOTOMANROBOTICSAB
Alarm 5190 Arithmetic Section Init Error
Alarm 5200 Set-Up Process Error (motion)
Alarm 5210 System Error (motion)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 122
MOTOMANROBOTICS
AB
Alarm 5220 Servo Ready Monitoring Error
Alarm 5230 Calibration Data Error
Alarm 5240 Tool Calibration Data Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 123
MOTOMANROBOTICSAB
Alarm 5250-5300 File Fault
Alarm 5310 Arithmetic Alarm Reset Error
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
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Load the file corresponding tothe display, and then try again
Reset alarm, and thenexecute the operation again
Alarmre-occurs?NO YES
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 124
MOTOMANROBOTICS
AB
Alarm 5320 Wrong Control Group Axis
Alarm 5330 Cannot Execute Job (no robot)
Alarm 5340 Sensing Data Request Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check program and modify it (includecontrol group to the original job).
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check program and modify it (includecontrol group to the original job).
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 125
MOTOMANROBOTICSAB
Alarm 5350 Main Contactor On Reply Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Check if main contactoris working or not
Working?NO YES
Check voltage for main contactor coil
Abnormal?NO YES
Replace maincontactor
Alarmre-occurs?
NO
Contactor failure
YES Check MTU board
Defective?
NO
YES Replace MTU board
YESAlarm
re-occurs?
NO
MTU board failure
Trouble Shooting YASNAC MRC
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Page: 126
MOTOMANROBOTICS
AB
Alarm 5360 Main Contactor Off Reply Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Check if main contactoris working or not
Working?NO YES
Check voltage for main contactor coil
Abnormal?NO YES
Replace maincontactor
Alarmre-occurs?
NO
Contactor failure
YES Check MTU board
Defective?
NO
YES Replace MTU board
YESAlarm
re-occurs?
NO
MTU board failure
Trouble Shooting YASNAC MRC
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Page: 127
MOTOMANROBOTICSAB
Alarm 5370 Braking Lock Reply Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Check if main contactoris working or not
Working?NO YES
Check voltage for main contactor coil
Abnormal?NO YES
Replace maincontactor
Alarmre-occurs?
NO
Contactor failure
YES Check MTU board
Defective?
NO
YES Replace MTU board
YESAlarm
re-occurs?
NO
MTU board failure
Trouble Shooting YASNAC MRC
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Page: 128
MOTOMANROBOTICS
AB
Alarm 5380 Braking Release Reply Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Check if main contactoris working or not
Working?NO YES
Check voltage for main contactor coil
Abnormal?NO YES
Replace maincontactor
Alarmre-occurs?
NO
Contactor failure
YES Check MTU board
Defective?
NO
YES Replace MTU board
YESAlarm
re-occurs?
NO
MTU board failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5390 Servo-Ready On Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Check if main contactoris working or not
Working?NO YES
Check voltage for main contactor coil
Abnormal?NO YES
Replace maincontactor
Alarmre-occurs?
NO
Contactor failure
YES Check MTU board
Defective?
NO
YES Replace MTU board
YESAlarm
re-occurs?
NO
MTU board failure
1
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 5390 Servo-Ready On Error (...continued)
YES
Contact MOTOMAN-service
Alarmre-occurs? Resume use
NO
Lit?
NO
YES
NO
YES
Alarmre-occurs?
NO
YES
Replace MSV board
Defective?
NO
YES
Replace servopack
YES
Alarmre-occurs?
NO
Servopack failure
1
Check change LEDon servopack
Turn off power, andthen turn it on again
Check wiring betweencontactor and servopack
Check wiring between MSVboard and servopack
Defective?
Replace wiring betweencontactor and servopack
Wiring failure
Replace wiring betweenMSV board and servopack
Alarmre-occurs? Wiring failure
YES
NO
Alarmre-occurs?
YES
NO MSV boardfailure
Trouble Shooting YASNAC MRC
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Page: 131
MOTOMANROBOTICSAB
Alarm 5400 Servo-Ready Off Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Check if main contactoris working or not
Working?NO YES
Check voltage for main contactor coil
Abnormal?NO YES
Replace maincontactor
Alarmre-occurs?
NO
Contactor failure
YES Check MTU board
Defective?
NO
YES Replace MTU board
YESAlarm
re-occurs?
NO
MTU board failure
1
Trouble Shooting YASNAC MRC
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Page: 132
MOTOMANROBOTICS
AB
Alarm 5400 Servo-Ready Off Error (...continued)
YES
Contact MOTOMAN-service
Alarmre-occurs? Resume use
NO
Lit?
NO
YES
NO
YES
Alarmre-occurs?
NO
YES
Replace MSV board
Defective?
NO
YES
Replace servopack
YES
Alarmre-occurs?
NO
Servopack failure
1
Check change LEDon servopack
Turn off power, andthen turn it on again
Check wiring betweencontactor and servopack
Check wiring between MSVboard and servopack
Defective?
Replace wiring betweencontactor and servopack
Wiring failure
Replace wiring betweenMSV board and servopack
Alarmre-occurs? Wiring failure
YES
NO
Alarmre-occurs?
YES
NO MSV boardfailure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5410 Base-Block On Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? Resume useNO
Reset alarm, and thenexecute the operation again
NO
YES
NO
YES
Alarmre-occurs?
NO
Servopack failure
YES
Defective?
NO
YES
Replace servopack
YES
Alarmre-occurs?
Turn off power, andthen turn it on again
Alarmre-occurs? Resume use
Check wiring between MSVboard and servopack
Replace wiring betweenMSV board and servopack
Wiring failure
Replace MSV board
Alarmre-occurs? NO MSV board
failure
Trouble Shooting YASNAC MRC
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Page: 134
MOTOMANROBOTICS
AB
Alarm 5420 Base-Block Off Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? Resume useNO
Reset alarm, and thenexecute the operation again
NO
YES
NO
YES
Alarmre-occurs?
NO
Servopack failure
YES
Defective?
NO
YES
Replace servopack
YES
Alarmre-occurs?
Turn off power, andthen turn it on again
Alarmre-occurs? Resume use
Check wiring between MSVboard and servopack
Replace wiring betweenMSV board and servopack
Wiring failure
Replace MSV board
Alarmre-occurs? NO MSV board
failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5430 Dynamic Brake On Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? Resume useNO
Reset alarm, and thenexecute the operation again
NO
YES
NO
YES
Alarmre-occurs?
NO
Servopack failure
YES
Defective?
NO
YES
Replace servopack
YES
Alarmre-occurs?
Turn off power, andthen turn it on again
Alarmre-occurs? Resume use
Check wiring between MSVboard and servopack
Replace wiring betweenMSV board and servopack
Wiring failure
Replace MSV board
Alarmre-occurs? NO MSV board
failure
Trouble Shooting YASNAC MRC
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Page: 136
MOTOMANROBOTICS
AB
Alarm 5440 Dynamic Brake Off Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs? Resume useNO
Reset alarm, and thenexecute the operation again
NO
YES
NO
YES
Alarmre-occurs?
NO
Servopack failure
YES
Defective?
NO
YES
Replace servopack
YES
Alarmre-occurs?
Turn off power, andthen turn it on again
Alarmre-occurs? Resume use
Check wiring between MSVboard and servopack
Replace wiring betweenMSV board and servopack
Wiring failure
Replace MSV board
Alarmre-occurs? NO MSV board
failure
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5450 Unused (on)
Alarm 5460 Unused (off)
Alarm 5470 Cannot Edit (edit lock job)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Release Edit-lock, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 138
MOTOMANROBOTICS
AB
Alarm 5480 Select Error (application 1)
Alarm 5490 Select Error (application 2)
Alarm 5500 Select Error (sensor 1)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 139
MOTOMANROBOTICSAB
Alarm 5510 Select Error (sensor 2)
Alarm 5520 Wrong Port Out (analog output)
Data 1 Application 1 Data 2 Application 2
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 140
MOTOMANROBOTICS
AB
Alarm 5530 Pass Over
Alarm 5540 Wrong Selection (sensor)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
NO
Is COM-ARC III’sfunction normal?
Check the cable betweenthe current detection unit
and the sensor board
Defective?
Change the cable
YES Check workpiecedeviation
Small LargeDeviation? Position a workpiece
NOCheck the current
detection unit
Defective? YES Replace the currentdetection unit
NO
Replace thesensor board
YES
NOAlarmre-occurs?
YES
NOSensor board failure
Current detectionunit failure
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5550 Wrong Mech Parameter File
Alarm 5560 Incompleted PT Frame
Alarm 5570 Defective Taught Point (cutting)
Data 1 CW axis position is not 0. Data 2 Cutting radius is 0.
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 142
MOTOMANROBOTICS
AB
Alarm 5580 Defective Taught Point (endless)
Alarm 5590 Correctional Direction Data
Alarm 5600 Position Correction Data
Data 1 Linear motion error (MRESET not executed.
Data 3 Endless not selected on T-axis.
Data 2 Endless on base axes Data 4 Command position exceeds limit (214748367 pulse).
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 143
MOTOMANROBOTICSAB
Alarm 5610 Over Tool File No.
Alarm 5620 Defective Taught Point (weav)
Alarm 5630 Undefined Robot Calibration
Data 1 Weaving atart point and end point is the same
Data 2 Weaving REFP 1 or 2 is on the path
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check the REFP, and thenteach the REFP again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs
Resume use
NO
Execute robot calibration
Trouble Shooting YASNAC MRC
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Page: 144
MOTOMANROBOTICS
AB
Alarm 5640 Parameter Error
Alarm 5650 Defective Taught Point (Calib)
Data 3 Data for station 2nd axis is not same 3, 4, 5 points.
Data 5 Data for station 2nd axis is not same 1, 2, 3 points.
Data 4 Data for station 1st axis is not same 1, 2, 3 points.
Data 6 Data for station 1st axis is not same 3, 4, 5 points.
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset the parameterwith the original data
Load the parameter fileand then try again
Alarmre-occurs?NO YES
Resume use
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check the taught point, andthen teach the point again
Trouble Shooting YASNAC MRC
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Page: 145
MOTOMANROBOTICSAB
Alarm 5660 DM-Bank Transmission Error
Alarm 5670 Cannot Execute Job (no grp axis)
Alarm 5680 Univ Data Preset Request Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Set group axes
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 146
MOTOMANROBOTICS
AB
Alarm 5690 Braking Sequence Error
Alarm 5700 Process Error (Syscon - axis)
Alarm 5710 Illegal Sv Parameter (online)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset the parameterwith the original data.
Load the parameter fileand then try again
Alarmre-occurs? YESNO
Resume use
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICSAB
Alarm 5720 Illegal Sv Parameter (online)
Alarm 5730 Sv Parameter Change Error (online)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Alarmre-occurs? YESNO
Resume use
Reset alarm, and thenexecute the operation again
Replace the MSV board,and then try again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Alarmre-occurs? YESNO
Resume use
Reset alarm, and thenexecute the operation again
Replace the MSV board,and then try again
Trouble Shooting YASNAC MRC
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Page: 148
MOTOMANROBOTICS
AB
Alarm 5740 Illegal Max Speed Parameter
Alarm 5750 Undefined Position Variable
Alarm 5760 Undefined User Frame
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Alarmre-occurs? YESNO
Resume use
Reset the parameterwith the original data
Load the parameter fileand then try again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Set the position variable
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Set the user frame
Trouble Shooting YASNAC MRC
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Page: 149
MOTOMANROBOTICSAB
Alarm 5770 Out Of Range (parallel process)
Alarm 5780 SL Board On-Line Error
Alarm 5790 Interrupt Error (sensor)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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MOTOMANROBOTICS
AB
Alarm 5800 Out Of Current Detector Range
Alarm 5810 Command Error (sensor)
Alarm 5820 Process Error (sensor)
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
Trouble Shooting YASNAC MRC
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Page: 151
MOTOMANROBOTICSAB
Alarm 5830 Parallel Start Instruction Error
Alarm 5840 Cannot Execute Job (grp axis)
Alarm 5850 Measure Inst Execute Error
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Check the program,and then modify it.
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Set group axes
YES
Contact MOTOMAN-service
Alarm Occurrence
Alarmre-occurs?
Resume use
NO
Reset alarm, and thenexecute the operation again
MOTOMAN ROBOTICS ABa subsidiary of YASKAWA Electric Corporation
Headquarters:MOTOMAN ROBOTICS ABBox 504 l 385 25 Torsås l SwedenTel: +46-486-48800l Fax: +46-486-41410
Subsidiary:MOTOMAN ROBOTICS UK LTD1 Swan Industrial Estate l Banbury l OXON OX16 8DJ l EnglandTel: +44-1295-272755 l Fax: +44-1295-267127
MOTOMAN ROBOTICS ITALIA SRLVia Emilia 1420/16 l I-41100 Modena l ITALYTel: +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 FranceTel: +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 SpainTel: +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 PortugalTel: +351-14968160 l Fax: +351-14990696
HN AUTOMATIC A/SHjulmagervej 4 l DK-7100 Vejle l DenmarkTel: +45-79428000 l Fax: +45-79428001
LINCOLN-KD S.A.Ctra, Laureà Miró 396-398 l E-08980 Sant Feliu de Llobregat l SpainTel: +34-36859600 l Fax: +34-36859633
MOTOMAN ROBOTIT OYKärsämäentie 8 l SF-20300 Turku l FinlandTel: +358-22145600 l Fax: +358-22145660
ROBOT-TEKNIKK ASØvre Eikervei 177 l N-3048 Drammen l NorwayTel: +47-32217830 l Fax: +47-32217840
SIAD S.p.a.Via S. Bernardino, 92 l I-24126 Bergamo l ItalyTel: +39-35-328111 l Fax: +39-35-320183