DX100 Instruction Manual

DX100
Instruction Manual
BEGINNERS REFERENCE
Table of Basic Instruction

Simplified teaching and playback
DX100 Alarm List
- Please read these instructions before operation and keep them for later
reference.
- The operating instructions are only for internal use.
E1102000028GB01
DX100
1 Table of Basic Instructions..................................5
1.1 Move Instructions......................................................................................5
1.2 I/O Instructions ..........................................................................................8
1.3 Control Instructions ................................................................................10
1.4 Shift Instructions .....................................................................................12
1.5 Operating Instructions ............................................................................13
2 Teaching ..............................................................21
2.1 Preparation for Teaching ........................................................................21
2.1.1 Checking Emergency Stop Buttons............................................................................... 21
2.1.2 Setting the Teach Lock.................................................................................................. 21
2.1.3 Registering a Job........................................................................................................... 21
2.1.4 Registering Jobs............................................................................................................ 22
2.1.5 Registering Comments .................................................................................................. 23
2.1.6 Registering Control Groups ........................................................................................... 23
2.1.7 Switching to the Teaching Window................................................................................ 23
2.2 Teaching Operation.................................................................................24
2.2.1 Teaching Window .......................................................................................................... 24
2.2.2 Interpolation Type and Play Speed ............................................................................... 25
2.2.3 Joint Interpolation .......................................................................................................... 25
2.2.4 Linear Interpolation........................................................................................................ 25
2.2.5 Circular Interpolation ..................................................................................................... 26
2.2.6 Spline Interpolation........................................................................................................ 28
2.2.7 Teaching Steps.............................................................................................................. 29
2.2.8 Overlapping the First and Last Steps ............................................................................ 39
2.3 Checking Steps........................................................................................39
2.3.1 FWD/BWD Key Operations ........................................................................................... 39
2.4 Modifying Steps.......................................................................................45
2.4.1 Displaying the JOB CONTENT Window for Editing....................................................... 48
2.4.2 Inserting Move Instructions............................................................................................ 49
2.4.3 Deleting Move Instructions ............................................................................................ 51
2.4.4 Modifying Move Instructions .......................................................................................... 52
2.4.5 Undo Operation ............................................................................................................. 53
2.4.6 Modifying Reference Point Instructions ......................................................................... 53
2.4.7 Modifying Timer Instructions.......................................................................................... 54
2.5 Modifying Jobs ........................................................................................55
2.5.1 Calling Up a Job ............................................................................................................ 55
2.5.2 Windows Related to Job................................................................................................ 55
2.5.3 JOB HEADER Window.................................................................................................. 56
2.5.4 JOB CONTENT Window ............................................................................................... 57
2.5.5 JOB CAPACITY Window............................................................................................... 58
2.6 Editing Instructions.................................................................................59
2.6.1 Instruction Group ........................................................................................................... 60
2.6.2 Inserting Instructions ..................................................................................................... 61
2.6.3 Deleting Instructions ...................................................................................................... 63
2.6.4 Modifying Instructions.................................................................................................... 64
2.6.5 Modifying Additional Numeric Data ............................................................................... 66
2.6.6 Modifying Additional Items............................................................................................. 67
2.6.7 Inserting Additional Items .............................................................................................. 68
2.6.8 Deleting Additional Items............................................................................................... 69
2.7 Editing Jobs .............................................................................................70
2.7.1 Selecting the Range ...................................................................................................... 71
2.7.2 Copying ......................................................................................................................... 72
2.7.3 Cutting ........................................................................................................................... 72
2.7.4 Pasting........................................................................................................................... 73
2.7.5 Reverse Pasting ............................................................................................................ 74
2.8 Test Operations .......................................................................................75
2.8.1 Test Operation Procedures ........................................................................................... 75
2.9 Other Job-editing Functions ..................................................................75
2.9.1 Editing Play Speed ........................................................................................................ 75
2.9.2 Editing Interpolation Type.............................................................................................. 79
2.9.3 Editing Condition Files................................................................................................... 80
2.9.4 User Variables ............................................................................................................... 81
2.9.5 Flip/No Flip .................................................................................................................... 92
2.9.6 R-axis Angle .................................................................................................................. 93
2.9.7 T-axis Angle................................................................................................................... 93
2.9.8 Front/Back ..................................................................................................................... 94
2.9.9 Upper Arm/Lower Arm ................................................................................................... 96
2.9.10 S-axis Angle .................................................................................................................. 96
2.9.11 Editing Local Variables .................................................................................................. 97
2.9.12 Search ........................................................................................................................... 99
3 Alarm .................................................................109
3.1 Outline of Alarm.....................................................................................109
3.2 Alarm Display.........................................................................................110
3.2.1 Displaying and Releasing Alarm.................................................................................. 110
2.2.2 Special Alarm Display.................................................................................................. 111
2.3 Alarm Message List...............................................................................112
1 Table of Basic Instructions
<> indicates numerical or alphabetical data.

If multiple items are shown in one section, select one of the items.
1.1 Move Instructions
MOVJ Function Moves to a taught point with joint interpolation type.

Additional Position data, These data do not
Item Base axis position data, appear on the
Station axis position data screen.
VJ=<play speed> VJ:
0.01 to 100.00%
PL=<position level> PL:0 to 8
NWAIT
UNTIL statement
ACC=(acceleration adjustment ratio) ACC: 20 to 100%
DEC=(deceleration adjustment ratio) DEC: 20 to 100%
Example MOVJ VJ=50.00 PL=2 NWAIT UNTIL IN#(16)=ON
MOVL Function Moves to a taught point with linear interpolation type.
V=<play speed>, V:0.1 to 1500.0
VR=<play speed of the posture>, mm/s
VE=<play speed of external axis> 1 to 9000.0
cm/min
VR:0.1 to 180.0
deg/s
VE:0.01 to
100.00%
CR=(corner radius) CR: 1.0 to
6553.5mm
NWAIT
UNTIL statement
Example MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON
5 Beginners Reference DX100

MOVC Function Moves to a taught point with circular interpolation type.
V=<play speed>, Same as MOVL.
VR=<play speed of the posture>,
VE=<play speed of external axis>
NWAIT
Example MOVC V=138 PL=0 NWAIT
MOVS Function Moves to a taught point with spline interpolation type.
NWAIT
Example MOVS V=120 PL=0
IMOV Function Moves the specified increment from the current position with linear
interpolation type.
Additional P<variable number>,
Item BP<variable number>,
EX<variable number>
NWAIT
BF,RF,TF,UF# (<user coordinate number>) BF:
base coordinates
RF:
robot coordinates
TF:
tool coordinates
UF:
user coordinates
UNTIL statement
Example IMOV P000 V=138 PL=1 RF
Beginners Referenze DX100 6

REFP Function Defines a reference point (e.g. wall point for weaving).
Additional <reference point number> wall point 1 for
Item weaving :1
wall point 2 for
weaving :2
Position data, These data do not
Base axis position data, appear on the
Example REFP 1
SPEED Function Sets play speed.
Additional VJ=<joint speed>, VJ:Same as
Item V=<TCP speed>, MOVJ.
VR=<play speed of the posture>, V,VR,VE:
VE=<play speed of external axis> Same as
MOVL.
Example SPEED VJ=50.00

1.2 I/O Instructions
DOUT Function Turns the external output signals ON and OFF.
Additional OT# (<output number>),
Item OGH# (<output group number>),
OG# (<output group number>)
Number of addressed output signals:

OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
OGH#(xx) is not subject to parity check; only the binary

specification is allowed.
FINE With a high
degree of
accuracy
Example DOUT OT#(12) ON
PULSE Function Outputs a pulse signal as an external output signal.
Additional OT# (<output number>),
Item OGH# (<output group number>),
OG# (<output group number>)
T=<time (seconds)> 0.01 to
655.35 s
0.30 s unless
otherwise
specified
Example PULSE OT# (10) T=0.60
DIN Function Sets input signals in variables.
Additional B<variable number>
Item IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>),
SIN# (<system input number>),
SOUT# (<system output number>)
Number of addressed input signals:

IN#(xx)=1;IGH#(xx)=4(per group);
IG#(xx)=8(per group)
Number of addressed output signals:

OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
IGH#(xx) and OGH#(xx) are not subject to parity

check; only the binary specification is allowed.
Example DIN B016 IN#(16)
DIN B002 IG#(2)

WAIT Function Waits until the external input signal status matches the specified status.
Additional IN# (<input number>),
Item IGH# (<input group number>),
OT# (<user output number>),
OGH# (<output group number>),
SIN# (<system input number>),
SOUT# (<system output number>)
<status>,B<variable number>
T=<time (seconds)> 0.01 to
655.35 s
Example WAIT IN# (12)=ON T=10.00
WAIT IN# (12)=B002
AOUT Function Outputs the specified voltage to the general-purpose analog output port.
Additional AO# (<output port number>) 1 to 40
Item <output voltage(V)> -14.0 to 14.0
Example AOUT AO# (2) 12.7
ARATION Function Starts the analog output corresponding to the speed.
Additional AO#(<output port number>) 1 to 40
Item BV = <basic voltage> -14.00 to 14.00
V = <basic speed> 0.1 to
150.0 mm/s
1 to 9000 cm/min
OFV = <offset voltage> -14.00 to 14.00
Example ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
ARATIOF Function Ends the analog output corresponding to the speed.
Additional AO#(<output port number>) 1 to 40
Item
Example ARATIOF AO#(1)

1.3 Control Instructions
JUMP Function Jumps to the specified label or job.
Additional * <label character string>,
Item JOB:<job name>,
B<variable number>,
I<variable number>,
D<variable number>
UF# (user coordinates number)
IF statement
Example JUMP JOB:TEST1 IF IN#(14)=OFF
* Function Indicates a jump destination.
(label) Additional <jump destination> 8 characters or
Item less
Example *123
CALL Function Calls the specified job.
Additional JOB:<job name>,
Item IG# (<input group number>),
B<variable number>,
I<variable number>,
D<variable number>
UF# (user coordinates number)
IF statement
Example CALL JOB:TEST1 IF IN# (24)=ON
CALL IG#(2)
(The job is called by the patterns of input signal. In this example, Job 0
cannot be called.)
RET Function Returns to the call source job.
Additional IF statement
Item
Example RET IF IN#(12)=OFF
END Function Declares the end of a job.
Additional
Item
Example END
NOP Function No operation.
Additional
Item
Example NOP
TIMER Function Stops for the specified time.
Additional T=<time (seconds)> 0.01 to
Item 655.35 s
Example TIMER T=12.50
IF Function Evaluates the specified condition and makes a judgment accordingly.
Described after an instruction that specifies a certain action.
statement
Format:<Item1>=,<>,<=,>=,<,><Item2>
Additional <Item1>
Item <Item2>
Example JUMP *12 IF IN#(12)=OFF

UNTIL Function Monitors the specified input signal during an action and stops the action
when the specified signal status is observed. Described after an instruction
statement
that specifies a certain action.
Additional IN# (<input number>)
Item <status>
Example MOVL V=300 UNTIL IN#(10)=ON
PAUSE Function Instructs a pause.
Additional IF statement
Item
Example PAUSE IF IN#(12)=OFF
Function Dispalys a comment.
(comment) Additional <comment> 32 characters or
Item less
Example Draws 100mm size square.
CWAIT Function Waits for execution of the instruction on the next line.
Used with the NWAIT tag which is an additional item of a move instruction.
Additional
Item
Example MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
MOVL V=100
ADVINIT Function Initializes the prereading instruction processing.
Used to adjust the access timing for variable data.
Additional
Item
Example ADVINIT
ADVSTOP Function Stops the prereading instruction processing.
Used to adjust the access timing for variable data.
Additional
Item
Example ADVINIT

1.4 Shift Instructions
SFTON Function Starts a shift operation.
Additional P<variable number>, BF:
Item BP<variable number>, base coordinates
EX<variable number>, RF:
BF,RF,TF, robot coordi-
UF#(<user coordinate number>)
nates
TF:
tool coordinates
UF:
user coordinates
Example SFTON P001 UF#(1)
SFTOF Function Stops a shift operation.
Additional
Item
Example SFTOF
MSHIFT Function Obtains the shift value in the specified coordinate system from Data 2 and
3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Additional Data1 PX<variable number>
Item Coordinate BF,RF,TF, BF:
UF# (<user coordinate number>), base coordinates
MTF RF:
robot coordi-
nates
TF:
tool coordinates
UF:
user coordinates
MTF:
tool coordinates
for the master
Data2 PX<variable number>
Data3 PX<variable number>
Example MSHIFT PX000 RF PX001 PX002

1.5 Operating Instructions
ADD Function Adds Data1 and Data2, and stores the result in Data1.
Format:ADD<Data1><Data2>
Additional Data1 B<variable number>, Data1 must
Item I<variable number>, always be a
D<variable number>, variable.
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Data2 Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
EX<variable number>
Example ADD I012 I013
SUB Function Subtracts Data2 from Data1, and stores the result in Data1.
Format:SUB<Data1><Data2>
R<variable number>,
P<variable number>,
EX<variable number>
Data2 Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
EX<variable number>
Example SUB I012 I013

MUL Function Multiplies Data1 by Data2, and stores the result in Data1.
Format:MUL<Data1><Data2>
Data1 can be an element in a position variable.

Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
R<variable number>,
P<variable number> (<element
number>),
BP<variable number> (<element
number>),
EX<variable number> (<element
number>)
Data2 Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>
Example MUL I012 I013
MUL P000 (3) 2 (Multiply the Z-axis data by 2.)
DIV Function Divides Data1 by Data2, and stores the result in Data1.
Format:DIV<Data1><Data2>
Data1 can be an element in a position variable.

Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
R<variable number>,
P<variable number> (<element
number>),
number>),
number>)
Data2 Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>
Example DIV I012 I013
DIV P000 (3) 2 (Divide the Z-axis data by 2.)
INC Function Increments the value of the specified variable by 1.
Additional B<variable number>,I<variable number>,
Item D<variable number>
Example INC I043

DEC Function Decrements the value of the specified variable by 1.
Additional B<variable number>,I<variable number>,
Item D<variable number>
Example DEC I043
AND Function Obtains the AND of Data1 and Data2, and stores the result in Data1.
Format:AND<Data1><Data2>
Additional Data1 B<variable number>
Item Data2 B<variable number>, Constant
Example AND B012 B020
OR Function Obtains the OR of Data1 and Data2, and stores the result in Data1.
Format:OR<Data1><Data2>
Example OR B012 B020
NOT Function Obtains the NOT of Data2, and stores the result in Data1.
Format:NOT<Data1><Data2>
Example NOT B012 B020
XOR Function Obtains the exclusive OR of Data1 and Data2, and stores the result in
Data1.
Format:XOR<Data1><Data2>
Example XOR B012 B020
SET Function Sets Data2 to Data1.
Format:SET<Data1><Data2>
R<variable number>,
P<variable number>,
S<variable number>,
EX<variable number>
Data2 Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
S<variable number>,
EXPRESS
Example SET I012 I020

SETE Function Sets data to an element in a position variable.
Additional Data 1 P<variable number> (<element
Item number>),
number>),
number>)
Data 2 D<variable number>,
<double-precision integer type
constant>
Example SETE P012 (3) D005
GETE Function Extracts an element in a position variable.
Additional D<variable number>
Item P<variable number> (<element number>),
BP<variable number> (<element number>),
EX<variable number> (<element number>)
Example GETE D006 P012 (4)
GETS Function Sets a system variable to the specified variable.
Additional B<variable number>,
Item I<variable number>,
D<variable number>,
R<variable number>,
PX<variable number>
$B<variable number>, System variable
$I<variable number>,
$D<variable number>,
$R<variable number>,
$PX<variable number>, $ERRNO,
Constant, B<variable number>
Example GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001
CNVRT Function Converts the position variable (Data2) into a position variable of the
specified coordinate system, and stores the converted variable in Data1.
Format:CNVRT<Data1><Data2><coordinate>
Additional Data1 PX<variable number>
Item Data2 PX<variable number>
BF,RF,TF,UF# (<user coordinate number>),MTF BF:
base coordinates
RF:
robot coordinates
TF:
tool coordinates
UF:
user coordinates
MTF:tool
coordinates for the
master
Example CNVRT PX000 PX001 BF

CLEAR Function Starting with the variable number in Data1, clears (sets to zero) as many
variables as specified by a number in Data2.
Format:CLEAR<Data1><Data2>
Additional Data1 B<variable number>,
Item I<variable number>,
D<variable number>,
R<variable number>,
$B<variable number>,
$I<variable number>,
$D<variable number>,
$R<variable number>,
Data2 <number of variables>, ALL,STACK ALL:Clears
variables of the
variable number in
Data1 and of all
the variable
numbers that
follow.
STACK:Clears all
variables in the job
call stack.
Example CLEAR B000 ALL
CLEAR STACK
SIN Function Obtains the sine of Data2, and stores the result in Data1.
Format:SIN<Data1><Data2>
Additional Data1 R<variable number> Data1 must
Item always be a real
type variable.
Data2 <constant>,
R<variable number>
Example SIN R000 R001 (Sets the sine of R001 to R000.)
COS Function Obtains the cosine of Data2, and stores the result in Data1.
Format:COS<Data1><Data2>
type variable.
Data2 <constant>,
R<variable number>
Example COS R000 R001 (Sets the cosine of R001 to R000.)
ATAN Function Obtains the arc tangent of Data2, and stores the result in Data1.
Format:ATAN<Data1><Data2>
type variable.
Data2 <constant>,
R<variable number>
Example ATAN R000 R001 (Sets the arc tangent of R001 to R000.)
SQRT Function Obtains the square root of Data2, and stores the result in Data1.
Format:SQRT<Data1><Data2>
type variable.
Data2 <constant>,
R<variable number>
Example SQRT R000 R001 (Sets the square root of R001 to R000.)

MFRAME Function Creates a user coordinate using the position data for the given three points
as definition points. <Data1> indicates the definition point ORG position
data, <Data2> the definition point XX position data, and <Data3> the
definition point XY position data.
Format: MFRAME <user coordinate> <Data1> <Data2> <Data3>
Additional UF#(<user coordinate number>) 1 to 24
Item Data1 PX <variable number>
Data2 PX <variable number>
Data3 PX <variable number>
Example MFRAME UF#(1) PX000 PX001 PX002
MULMAT Function Obtains the matrix product of Data2 and Data3, and stores the result in
Data1.
Format: MULMAT <Data1> <Data2> <Data3>
Additional Data1 P <variable number>
Item Data2 P <variable number>
Data3 P <variable number>
Example MULMAT P000 P001 P002
INVMAT Function Obtains the inverse matrix of Data2, and stores the result in Data1.
Format: INVMAT <Data1> <Data2>
Additional Data1 P <variable number>
Item Data2 P <variable number>
Example INVMAT P000 P001
SETFILE Function Changes the contents data of a condition file into the numeric data of Data1.
The contents data of a condition file to be changed is specified by the
element number.
Additional Contents WEV#(<condition file
Item data of a number>)(<element number>)
condition file
Data1 Constant,
D<variable number>
Example SETFILE WEV#(1)(1) D000
GETFILE Function Stores the contents data of a condition file in Data1. The contents data of a
condition file to be obtained is specified by the element number.
Additional Data1 D <variable number>
Item Contents WEV#(<condition file
data of a number>)(<element number>)
condition file
Example GETFILE D000 WEV#(1)(1)
GETPOS Function Stores the position data of Data2 (step number) in Data1.
Additional Data1 PX <variable number>
Item Data2 STEP# (<step number>)
Example GETPOS PX000 STEP#(1)

VAL Function Converts the numeric value of the character string (ASCII) of Data2 into the
real number, and stores the result in Data1.
Format: VAL <Data1> <Data2>
Additional Data1 B <variable number>,
Item I <variable number>,
D <variable number>,
R <variable number>
Data2 Character string,
S <variable number>
Example VAL B000 123
ASC Function Obtains the character code of the first letter of the character string (ASCII) of
Data2, and stores the result in Data1.
Format:ASC<Data1><Data2>
D <variable number>
S <variable number>
Example ASC B000 ABC
CHR$ Function Obtains the character (ASCII) with the character code of Data2, and stores
the result in Data1.
Format:CHR$<Data1><Data2>
Additional Data1 S <variable number>
Item Data2 Constant,
B <variable number>
Example CHR$ S000 65
MID$ Function Obtains the character string (ASCII) of any length (Data 3, 4) from the
character string (ASCII) of Data2, and stores the result in Data1.
Format:MID$<Data1><Data2><Data3><Data4>
Item Data2 Character string,
S <variable number>
Data3 Constant,
B <variable number>,
I <variable number>,
D <variable number>
Data4 Constant,
B <variable number>,
I <variable number>,
D <variable number>
Example MID$ S000 123ABC456 4 3
LEN Function Obtains the total number of bytes of the character string (ASCII) of Data2,
and stores the result in Data1.
Format:LEN<Data1><Data2>
D <variable number>
S <variable number>
Example LEN B000 ABCDEF

CAT$ Function Combines the character string (ASCII) of Data2 and Data3, and stores the
result in Data1.
Format:CAT$<Data1><Data2><Data3>
Item Data2 Character string,
S <variable number>
S <variable number>
Example CAT$ S000 ABC DEF

2 Teaching
2.1 Preparation for Teaching

To ensure safety, the following operations should always be performed before teaching:
Check the emergency stop buttons to be sure they function properly.
Set the mode switch to TEACH.
Then,
Register a job.
2.1.1 Checking Emergency Stop Buttons

The Servo ON button on the programming pendant should be lit while the power is ON for the servo
system. Perform the following operation to ensure that the emergency stop buttons on both the
DX100 and the programming pendant are functioning correctly before operating the manipulator.
Press E. STOP button.

Press the emergency stop button on the DX100 or the programming pendant.
Confirm the servo power is turned OFF.
The SERVO ON button on the programming pendant lights while servo supply is turned ON.
When the emergency stop button is pressed and the servo power is turned OFF, the SERVO ON
lamp will turn OFF.
Press [SERVO ON READY] of the programming pendant.
After confirming correct operation, press [SERVO ON READY]. The servo power will be ready to
turn ON.
The servo power can be turned ON while the SERVO ON button lamp blinks.
2.1.2 Setting the Teach Lock

For safety purposes, always set the mode switch to TEACH before beginning to teach.
While the teach lock is set, the mode of operation is tied to the teach mode and the machines cannot
be played back using either [START] or external input.
2.1.3 Register ing a Job

Specify the name, comments (as required), and control group to register a job.
Registering Job Names
Job names can use up to 32 alphanumeric and symbol characters. These different types of cha-
racters can coexist within the same job name.
The following rules apply to the designation of job names:
A maximum of 32 characters can be used for a job name.

If the job name is already used, an input error is caused.
<Example>
2.1.4 Re gistering Jobs

Select {JOB} under the main menu.
The sub-menu appears.
Select {CREATE NEW JOB}.

The NEW JOB CREATE window appears.
Input job name.

Move the cursor to JOB NAME, and press [SELECT]. Input job names using the character input
operation. For information on character input operation, refer to .
Press [ENTER].
Beginners Reference DX100 22

2.1.5 Register ing Comments
Register a comment using up to 32 alphanumeric and symbol characters as required.
Enter a comment.
In the NEW JOB CREATE window, move the cursor to the comment and press [SELECT]. For infor-
mation on character input operation, refer to .
Press [ENTER].
2.1.6 Registering Control Groups

Select the control group that has been registered in advance. If external axes (BASE or STATION)
or multiple robot systems are not used, the registration of control groups is not required.
2.1.7 Switching to the Teaching Window

After the name, comments (can be omitted), and the control groups have been registered, switch the
window to the teaching window as follows.
In the NEW JOB CREATE window, press [ENTER] or select EXECUTE.
Job name, comments, and control groups are all registered. Then, the JOB CONTENT window ap-
pears. NOP and END instructions are automatically registered.

2.2 Teaching Operation
2.2.1 T eaching Window

Teaching is conducted in the JOB CONTENT window. The JOB CONTENT window contains the fol-
lowing items:
B. Cursor
C. Instruction, additional items,

A. Line numbers comments, etc.
A. Line Numbers
The number of the job line is automatically displayed. Line numbers are automatically updated if
lines are inserted or deleted.
B. Cursor
The cursor for manipulator control. For the FWD, BWD, and test operation, the manipulator motion
starts from the line this cursor points.
C. Instructions, Additional Items, Comments, Etc
MOVJ VJ = 50.00
Tag Numerical Data

Instruction
Additional Item
.

Instructions : These are instructions needed to process or per-
form an operation. In the case of MOVE instruc-
tions, the instruction corresponding to the
interpolation type is automatically displayed at the
time position is taught.
Additional : Speed and time are set depending on the type of in-
items struction. When needed, numerical or character
data is added to the condition-setting tags.
2.2.2 Interpolation Type and Play Speed

Interpolation type determines the path along which the manipulator moves between playback steps.
Play speed is the rate at which the manipulator moves.
Normally, the position data, interpolation type, and play speed are registered together for a robot axis
step. If the interpolation type or play speed settings are omitted during teaching, the data used from
the previously taught step is automatically used.
2.2.3 Jo int Interpolation

The joint interpolation is used when the manipulator does not need to move in a specific path toward
the next step position. When the joint interpolation is used for teaching a robot axis, the move ins-
truction is MOVJ. For safety purposes, use the joint interpolation to teach the first step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes.
<Play Speed Setting Window>
Speeds are indicated as percentages of the maximum rate.
Setting 0:Speed Omit sets the same speed as the previous determination.
Move the cursor to the play speed.
Set the play speed by pressing [SHIFT] + the cursor key.
The joint speed value increases or decreases.
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78 (%)
2.2.4 Lin ear Interpolation

The manipulator moves in a linear path from one taught step to the next. When the linear interpolati-
on is used to teach a robot axis, the move instruction is MOVL. Linear interpolation is used for work

such as welding. The manipulator moves automatically changing the wrist position as shown in the
figure below.
<Play Speed Setting Window (same for circular and spline interpolation)>
There are two types of displays, and they can be switched depending on the application.
Move the cursor to the play speed.
Set the play speed by pressing [SHIFT] + the cursor key.
The play speed value increases or decreases.
Fast 1500.0 Fast 9000

750.0 4500
375.0 2250
187.0 1122
93.0 558
46.0 276
23.0 138
Slow 11 (mm/s) Slow 66 (cm/min)
2.2.5 Cir cular Interpolation

The manipulator moves in an arc that passes through three points. When circular interpolation is
used for teaching a robot axis, the move instruction is MOVC.
Single Circular Arc
When a single circular movement is required, teach the circular interpolation for three points, P1 to
P3, as shown in the following figure. If joint or linear interpolation is taught at P0, the point before
starting the circular operation, the manipulator moves from P0 to P1 in a straight line.
Interpolation Type for Single Circular Arc
Point Interpolation Instruction
Type
Automatically becomes P0 Joint or MOVJ
a straight line Linear MOVL
P2
P1 Circular MOVC
P2
P3
P4 Joint or MOVJ
P0 P1 P3 P4 Linear MOVL
Continuous Circular Arcs

As shown below, when two or more successive circular movements with different curvatures are re-
quired, the movements must be separated from each other by a joint or linear interpolation step.
This step must be inserted between the steps at an identical point. The step at the end point of the
preceding circular movement must coincide with the beginning point of the following circular move-
ment.
Interpolation Type for Continuous Circular Arcs

Type
P0 Joint or MOVJ
Joint or linear Linear MOVL
motion type
P1 Circular MOVC
P2
P2
P3
P3 P7 P8 P4 Joint or MOVJ
P4 Linear MOVL
P0 P1 P5
P5 Circular MOVC
P6
P6 P7
P8 Joint or MOVJ
Linear MOVL
Alternatively, to continue movements without adding an extra joint or linear interpolation step in
between, add FPT tag to the step whose curvature is needed to be changed.

Type
P0 Joint or MOVJ
Linear MOVL
P2
P1 Circular MOVC
P2
P5 P6
P3 P3 Circular MOVC
P0 P1 FPT
P4 Circular MOVC
P4 P5
P6 Joint or MOVJ
Linear MOVL
<Play Speed>
The play speed set display is identical to that for the linear interpolation.
The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to P3.
If a circular operation is taught at high speed, the actual arc path has a shorter radius than that
taught.

2.2.6 S pline Interpolation
When performing operations such as welding, cutting, and applying primer, using the spline interpo-
lation makes teaching for workpieces with irregular shapes easier. The path of motion is a parabola
passing through three points. When spline interpolation is used for teaching a robot axis, the move
instruction is MOVS.
Single Spline Curve
When a single spline curve movement is required, teach the spline interpolation for three points, P1
to P3, as shown in the figure below. If joint or linear interpolation is taught at point P0, the point be-
fore starting the spline interpolation, the manipulator moves from P0 to P1 in a straight line.
Interpolation Type for Single Spline Curve

Type
Automatically becomes P0 Joint or MOVJ

a straight line Linear MOVL
P2 P1 Spline MOVS
P2
P3
P4 Joint or MOVJ
Linear MOVL
P0 P1 P3 P4
Continuous Spline Curves

The manipulator moves through a path created by combining parabolic curves. This differs from the
circular interpolation in that steps with identical points are not required at the junction between two
spline curves.
Interpolation Type for Continuous Spline Curves

Type
P0 Joint or MOVJ
Linear MOVL
Idential-point step not
requid P1 Spline MOVS
P2 to
P5
P6 Joint or MOVJ
P5 P6
Linear MOVL
P3
P0 P1
P4

When the parabolas overlap, a composite motion path is created.
Start path End path
<Play Speed>
The play speed setting window is identical to that for the linear interpolation.
As with the circular interpolation, the speed taught at P2 is applied from P1 to P2, and the speed
taught at P3 is applied from P2 to P3.
Teach points so that the distances between the three points are
roughly equal. If there is any significant difference, an error will
occur on playback and the manipulator may operate in an un-
expected, dangerous manner. Ensure that the ratio of distan-
ces between steps m:n is within the range of 0.25 to 0.75.
NOTE
P2
n
P1 P3
m
2.2.7 T eaching Steps
2.2.7.1 RegisteringMove Instructions

Whenever one step is taught, one move instruction is registered. There are two ways to teach a
step. Steps can be taught in sequence as shown in the following left figure <Hyperlink>fig. 2-1 "Re-
gistering Move Instructions" or they can be done by inserting steps between already registered
steps, as shown in the right figure <Hyperlink>fig. 2-2 "Inserting Move Instructions"
This paragraph explains the teaching of <Hyperlink>fig. 2-1 "Registering Move Instructions", the
operations involved in registering new steps.
Fig. 2-1: Registering Move Instructions Fig. 2-2: Inserting Move Instructions
Step insertion
Step 2
Step 2
P1
Step 1 Step 3
Step 1 Step 3

Teaching of <Hyperlink>fig. 2-2 "Inserting Move Instructions" is called Inserting move instruction, to
distinguish it from the method shown in <Hyperlink>fig. 2-1 "Registering Move Instructions". For
more details on this operation, see <Hyperlink>chapter "" at page 2-49. The basic operations for re-
gistration and insertion are the same. The only difference is pressing [INSERT] in the case of inser-
tion. For registration (<Hyperlink>fig. 2-1 "Registering Move Instructions"), the instruction is always
registered before the END instruction. Therefore, it is not necessary to press [INSERT]. For inserti-
on (<Hyperlink>fig. 2-2 "Inserting Move Instructions"), [INSERT] must be pressed.
Setting the Position Data
1.) Select {JOB} under the main menu.
The sub-menu appears.
2.) Select {JOB}.

The contents of the currently-selected job is displayed.
3.)Move the cursor on the line immediately before the position where a move instruction to be regis-
tered.
4.)Grip the Enable switch.
Grip the Enable switch to turn the servo power ON.
5.) Move the manipulator to the desired position using the axis key.
Use the axis operation key to move the manipulator to the desired position.

Selecting the Tool Number
1.) Press [SHIFT] + [COORD].
When selecting the JOINT, XYZ/CYLINDRICAL, or TOOL coordinates, press [SHIFT] + [CO-
ORD] and the TOOL NO. SELECT window will be shown.
2.) Select the desired tool number.

The contents of the currently-selected job is displayed.
3.) Press [SHIFT] + [COORD].

The JOB CONTENT window appears.
Using Multiple Tools with One Manipulator

When multiple tools are to be used with one manipulator,
SUPPLE-
MENT set parameter S2C431 to 1.
See for details on this operation.
Setting the Interpolation Type

1.) Press [MOTION TYPE].
2.) Select the desired interpolation type.
When [MOTION TYPE] is pressed, MOVJ MOVL MOVC MOVS are displayed in order in the in-
put buffer line.

Setting the Play Speed
1.) Move the cursor to the instruction.
2.) Press [SELECT].

The cursor moves to the input buffer line.
3.) Move the cursor to the play speed to be set.

The joint speed moves up and down.
4.) Press [SHIFT] + the cursor key [-] or [] simultaneously.
5.) Press [ENTER].

The MOV instruction is registered.
More instrution
is registered
Follow the above instructions when conducting teaching. (Tool number, interpolation type, or play
speed does not need to be set if it is same as the previous step.)
To make the setting so that the play speed tag is not dis-
SUPPLE- played as a default, select {EDIT} from the menu and then
MENT
select ENABLE SPEED TAG to delete .
The position level can be set at the same time that the
move instruction is registered.
SUPPLE-
MENT
To display the position level tag as a default, select {EDIT}
from the menu and then select ENABLE POS LEVEL
TAG.
Position Level: The position level is the degree of approximation of the manipulator to a taught posi-
tion.
The position level can be added to move instructions MOVJ (joint interpolation) and MOVL (linear in-
terpolation).
If the position level is not set, the precision depends on the operation speed. Setting an appropriate
level moves the manipulator in a path suitable to circumferential conditions and the workpiece.

The relationship between path and accuracy for position levels is as follows.
Position Levels Accuracy
Position lever 0 0 Teaching position

1 Fine
P2 P3 to |
Postion level 1 8 Rough
Position level 2
Position level 3
Position level4
Positioning Level
P1
Setting the Position Level
Select move instruction.

The DETAIL EDIT window appears.
Select the position level UNUSED.

The selection dialog box appears.
Select PL.

The position level is displayed. The position initial value is 1.
1.) Press [ENTER].

To change the position level, select the level in the input buffer line, type the value using the Numeric
keys, and press [ENTER]. The position levels move instruction is registered.
2.) Press [ENTER].
For example, to perform the movement steps shown below, set as follows:
P1 P2 P4 P5
P3 P6
Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning. Adding
PL=1 to 8 to the move instructions of these steps moves the manipulator around the inner corners,
thereby reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.

<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6:
MOVL V=138 PL=0
2.2.7.2 Registering Reference Point Instructions

Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving. Refe-
rence point Nos. 1 to 8 are assigned for each application. Follow these procedures to register refe-
rence point instructions.
2.) Select {JOB}.
3.)Move the cursor.
Move the cursor to the line immediately before the position where the reference point to be regis-
tered.
Place immediately
before where
reference point is
to be registered
4.) Grip the Enable switch.

The servo power is turned ON.
5.) Press the axis operation key.
Move the manipulator to the position to be registered as the reference point.
6.)Press [REFP] or select REFP from the inform list.
The reference point instruction is displayed in the input buffer line.
7.) Change the reference point number in one of the following ways.
Move the cursor to the reference point number, and press [SHIFT] + the cursor key to change the re-
ference point number; or
Press [SELECT] when the cursor is on the reference point number. Then, the data input buffer line
appears. Input the number and press [ENTER].
8.) Press [INSERT].

The [INSERT] key lamp lights.
When registering before the END instruction, pressing [INSERT] is not needed.
9.) Press [ENTER].

The REFP instruction is registered.
One line before where timer

instruction is to be registered
The programming pendant does not have the [REFP] key for
NOTE the application of spot welding, motor gun, and of material
handling, assembling, and cutting.
2.2.7.3 Registering Timer Instructions

The timer instruction stops the manipulator for a specified time. Follow these procedures to register
timer instructions.

2.) Select {JOB}.
3.) Move the cursor.
Move the cursor to one line before the position where the timer instruction is to be registered.
4.) Press [TIMER].

The TIMER instruction is displayed on the input buffer line.
5.) Change the timer value.

Move the cursor to the timer value and change it by pressing [SHIFT] + the cursor key. The timer
unit of adjustment is 0.01 seconds.
If you use the Numeric keys to input the timer value, press [SELECT] when the cursor is on the timer
value. The data input line appears. Input the value and press [ENTER].
6.) Press [INSERT].

7.) Press [ENTER].

The TIMER instruction is registered.
Changing Timer Value

1.) Press [TIMER].
2.) Press [SELECT].
The DETAIL EDIT window for the TIMER instruction appears.
3.) Input the timer value on the instruction DETAIL EDIT window.
When is selected, the items available to be changed are displayed in the dialog box.
Select the particular item to be changed.

When a number is to be changed, move the cursor to the number and press [SELECT]. Input the
desired value using the Numeric keys, and press [ENTER].
4.) Press [ENTER].

The DETAIL EDIT window is closed and the JOB CONTENT window appears again. Modified con-
tent is displayed in the input buffer line.
5.) Press [INSERT].

6.) Press [ENTER].
The TIMER instruction is registered.

2.2.8 Overlapping the First and Last Steps
Why is overlapping the first and last step necessary?
Assume that the job shown below is to be repeated. The

manipulator moves from the last step (Step 6) to the first
step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly Step 5 to Step 1, thereby improv-
ing work efficiency.
Step 6
SUPPLE-
MENT
Step 6 after Step 5

change The position of Step 6
is changed to overlap
Step 1 with step1
Step 2 Step 4
Step 3
1.) Move the cursor to the first step line.

2.) Press [FWD].
The manipulator moves to the first step position.
3.) Move the cursor to the last step line.
The cursor starts blinking.
When the cursor line position and the manipulator position are different in the JOB CONTENT win-
dow, the cursor blinks.
4.) Press [MODIFY].
The key lamp lights.
5.) Press [ENTER].
The position data for the first step is registered on the line of the last step.
At this time, only the position data can be changed in the last step. Interpolation type and play
speed do not change.
2.3 Checking Steps
2.3.1 F WD/BWD Key Operations

Check whether the position of the taught steps is appropriate using [FWD] or [BWD] on the program-
ming pendant. Each time [FWD] or [BWD] is pressed, the manipulator moves by a single step.
[FWD]: Moves the manipulator ahead in step number sequence.
Only the move instruction is executed when [FWD] is pressed,
but when [INTERLOCK] + [FWD] are pressed, all instructions
are executed.

[BWD]: Moves the manipulator backward a step at a time in reverse step
number sequence. Only the move instruction is executed.
NOTE For safety, set manual speed at or below.
1.) Move the cursor to the step to be checked.

2.) Press [FWD] or [BWD].
The manipulator reaches the following / previous step and stops.
2.3.1.1 Precautions When Using FWD / BWD Operations
n FWD Movements
The manipulator moves in step number sequence. Only move instructions are executed when
[FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD].
The manipulator stops after playing a single cycle. It does not move after the END instruction is rea-
ched, even if [FWD] is pressed. However, at the end of a called job, the manipulator moves the ins-
truction next to the CALL instruction.
Called Jobs
Step 4
Step 1 Step 2 Step 3 (RET instruction)
(END instruction)
Step 4 Step 7
Step 3 Step 5 Step 6
(CALL instruction) (END instruction)
n BWD Movements
The manipulator moves in reverse step number sequence. Only move instructions are executed.
The manipulator does not move after the first step is reached, even if [BWD] is pressed. However, at the
beginning of a called job, the manipulator moves to the instruction immediately before the CALL instruction.
Called Jobs
Step 1 Step 2 Step 3 Step 4 Step 5
Manipulator stops
Step 3
Step 1 Step 2
(CALL instruction)
Circular Movements with FWD/BWD Key Operations

The manipulator moves in a straight line to the first step of the circular interpolation.
There must be three circular interpolation steps in a row to move the manipulator in an arc.

If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or to perform search,
the manipulator moves in a straight line to the next step.
If [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown below, the
manipulator moves in a straight line to P2, the next circular interpolation. Circular motion is restored
from P2 to P3.
Moves with linear interpolation
: Motion path for FWD/BWD key operation
P2 : Motion using axis keys
: Motion path during playback
P1 P3
Spline Curve Movements with FWD/BWD Operations

The manipulator moves in a straight line to the first step of spline interpolation.
There must be three spline curve motion steps in a row to perform a spline curve operation.
Depending on the position where the [FWD] / [BWD] operation is performed, the alarm IRREGULAR
DISTANCES BETWEEN TEACHING POINTS may occur.
Note that FWD/BWD inching operations change the path of the manipulator and caution is therefore
required. Performing these operations also increases the likelihood that the IRREGULAR DISTAN-
CES BETWEEN TEACHING POINTS will occur.
If the [FWD] or [BWD] operation is restarted after being stopped to move the cursor or perform a
search, the manipulator moves in a straight line to the next step.
If the [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown below,
the manipulator moves in a straight line to P2, the next spline curve motion step. Spline curve moti-
on is restored from P2 onward. However, the path followed between P2 and P3 is somewhat diffe-
rent from the path followed at playback.
Linear motion
P2 : Motion path for FWD/BWD key operation

: Motion using axis keys
: Motion path during playback
P1
P3
If the manipulator is moved to P3 with [FWD], stopped, and then returned to P2 with [BWD], the path
followed between P2 and P3 is different for each of the following: the first FWD operation, the BWD
operation, and the consequent FWD operation.
P2
P4
P1
P3

2.3.1.2 Selecting Manual Speed
When [FWD] or [BWD] is pressed, the manipulator moves at the manual speed selected at that time.
Selected manual speed can be checked by the manual speed indication on the programming pen-
dant.
Manual speed is set with [FAST] and [SLOW]. FWD operation can be performed at a high speed by
pressing [HIGH SPEED]. Follow these procedures to select a manual speed.
Each time [FAST] is pressed, the speed switches in the order of INCHSLOWMEDFAST.
FAST INCH SLW MED FST
Each time [SLOW] is pressed, the speed switches in the order of FASTMEDSLOWINCH.
SLOW FST MED SLW INCH
FWD/BWD operation is performed with SLW speed even if

INCH is selected.
NOTE
[HIGH SPEED] is available only for the FWD operation but
not for BWD operation.
2.3.1.3 Moving to Reference Point

To check the position of a taught reference point, follow these procedures to move the manipulator to
the reference point.
1.) Move the cursor to the reference point instruction line to be checked.
2.) Press [REFP] + [FWD].
The manipulator moves to the reference point of the cursor line.
The programming pendant does not have the [REFP] key for
SUPPLE- the application of spot welding, general purposes (= material
MENT
handling, assembling, cutting) or motor gun.
2.3.1.4 Test Operations

Playback operations can be simulated in the teach mode with test operations. This function is con-
venient for checking continuous paths and operation instructions.
Test operation differs in the following ways from actual playback in the play mode.
Operation speeds greater than the maximum teaching

speed are reduced to the maximum teaching speed.
NOTE Work instruction output, such as arc output, is not exe-
cuted.

Note that the motion path for the playback operation is replayed during the test operation. Therefore,
make sure that there is no obstacle around the manipulator and great caution should be exercised
when the test operation is performed.
Motion Path for Test Operation
B C
Motion Path for Playback Operation
Motion Path for Test Operation
Job Example
NOP
MOVJ VJ=50.0 D A
MOVL V=1500.0 D B
MOVL V=1500.0 D C
A
There may be a slight difference between the motion path

NOTE for the test operation and the motion path for the playback
operation due to a mechanical error or control delay, etc.
Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes,
these keys will only function while the keys are held down.
2.) Press {JOB}.
The test operation JOB CONTENT window appears.
3.) Press [INTERLOCK] + [TEST START].
The manipulator starts the test cycle operation.
However, after the operation starts, the motion continues even if [INTERLOCK] is released.
The manipulator moves only while these keys are held down.
The manipulator stops immediately when [TEST START] is released
Always check safety conditions before pressing [INTER-

NOTE LOCK] + [TEST START] to start the manipulator in motion.

2.3.1.5 Machine Lock Operation
When MACHINE LOCK is enabled, the [FWD] / [BWD] operation or the test operation can be per-
formed to check the status of input and output without moving the manipulator.
1.)Press [AREA].
2.) Select {UTILITY}.
3.) Select {SETUP SPECIAL RUN}.
The SPECIAL TEACH window appears.
4.) Select MACHINE LOCK.
Press [SELECT] to switch VALID and INVALID.
The setting of MACHINE LOCK is maintained even after

the mode is switched: If the machine lock is set to VALID
in the teach mode, it is still VALID after switching to the
play mode.
The same applies when the mode is switched from the
play mode to the teach mode.
NOTE
Note that the machine lock becomes INVALID if the fol-
lowing operation is performed.
Execution of CANCEL ALL SELECT in the SPECIAL
PLAY window.
Turning off the main power.

2.4 Modifying Steps
Begin move instruction Begin move instruction

insertion deletion
Move step cursor to Move cursor to location of

location where you want instuction to be
to inser the instruction. deleted.
Perform axis operations. Press [Delete].
Set interpolation type. Press [Enter].
Set play speed. Deletion completed
Set position level when

necessary.
Press [Insert].
Press [Enter].
Insertion completed

Move step cursor to
step to be modified
Modifying position data Modifying interpolation type
Move to position to be Perform axis

modified using the operations to position
axis operation keys. to be modifield.
Press [Modify] Delete MOV

instruction.
Press [Modify]
Press [Motion Type]
and select motion
type.
Modification
completed
Insert MOV
instruction.
Modification
completed

It is not possible to change a move instruction to a refer-
NOTE
ence point instruction and vice versa.
Begin REFP instruction

modification
Deletions Modifications
Move step cursor to the Move step cursor to the

REFP instruction to be REFP instruction to be
deleted, and move the modified.
manipulator to the
position.
Perform axis operations.

Press [DELETE]
Press [REFP]
Press [ENTER]
Press [MODIFY].
Deletion completed
Press [ENTER].
Modification completed

Begin TIMER instruction
modification
Deletions Modifications
Move edit cursor to the Move edit cursor to the

TIMER instruction to be TIMER instruction to be
deleted. modified.
Press [DELETE] Press [TIMER].
Press [ENTER]
Enter timer value.
Deletion completed
Press [MODIFY].
Press [ENTER].
Modification completed
2.4.1 Displaying the JOB CONTENT Window for Editing
2.4.1.1 Currently Called Up Job

2.) Select {JOB}.

2.4.1.2 Calling Up Other Jobs
In any other than the teach mode, set the mode switch to
NOTE
TEACH.

2.) Select {SELECT JOB}.
The JOB LIST window appears.
3.) Select the job name to be called.
2.4.2 Inserting Move Instructions
Move instructions cannot be inserted when the servo power

NOTE
is OFF.
Step where move instruction is to be inserted
Path after insertion
Path before inseration

1.) Move the cursor to the line immediately before the insert position.
Place immediately
before where 0003 MOVL V=558
0004 CALL JOB: TEST
reference point is 0005 MOVL V=138
to be registered

Turn ON the servo power and press the axis operation key to move the manipulator to the position to
be inserted.
Confirm the move instruction on the input buffer line and set
NOTE
desired interpolation type and play speed.
3.) Press [INSERT].

The key lamp will light.
When the inserting position is immediately before the END

NOTE
instruction, pressing [INSERT] is not needed.
4.) Press [ENTER].

The move instruction is inserted after the cursor line.
0006 MOVL V=276

The move instruction 0007 TIMER T=1.00
is added 0008 DOUT OT#(1) ON
0009 MOVL V=558
0010 MOVJ VJ=100.0
5.) Press [ENTER].

<Examples of Inserting a Move Instruction>
When a move instruction is inserted in the following job, it is placed on different lines according to the
setting in the TEACHING CONDITION window.
Before inserting the move instruction
Cursor line 0006 MOVL V=276

0007 TIMER T=1.00
0008 DOUT OT#(1) ON
0009 MOVJ VJ=100.0
Added
instruction
0006 MOVL V=276 0006 MOVL V=276

Added 0007 TIMER T=1.00 0007 MOVL V=558
instruction 0008 DOUT OT#(1) ON 0008 TIMER T=1.00
0009 MOVL V=558 0009 DOUT OT#(1) ON
0010 MOVJ VJ=100.0 0010 MOVJ VJ=100.0
After the insertion: when inserting before the next Step After the insertion: when inserting after the cursor line

Positions where the move instructions are inserted.
The default location for insertions is before the next step,
NOTE but it is also possible to insert after the cursor line. This
setting is made in the Move Instruction Register Method in
the TEACHING CONDITION window.
2.4.3 Deleting Move Instructions
Step where move instruction is to be deleted
Path before deletion
Path after deletion
1.) Move the cursor to the move instruction to be deleted.
Move instruction to 0003 MOVL V=138

be deleted 0004 MOVL V=558
0005 MOVJ VJ=50.00
If the manipulator position differs from the cursor position on

the window, the cursor blinks. Stop the blinking by either of
the following procedures.
1. Press [FWD] and move the manipulator to the position
NOTE
where the move instruction is to be deleted.
2. Press [MODIFY] [ENTER] to change the position data
of the blinking cursor position to the current manipulator
position.
2.) Press [DELETE].

The key lamp will blink.
3.) Press [ENTER].
The step indicated by cursor line is deleted.
0003 MOVL V=138
0004 MOVJ VJ=50.00

2.4.4 Modifying Move Instructions
2.4.4.1 Modifying Position Data

1.) Move the cursor to the MOV instruction to be modified.
Display the JOB CONTENT window and move the cursor to the move instruction to be changed.
Turn ON the servo power and press the axis operation key to move the manipulator to the desired
position.
3.) Press [MODIFY].
4.) Press [ENTER].
The position data in the present position is registered.
For MOV instructions for which position variables have been

SUPPLE-
MENT set, the position variables will not be changed.
2.4.4.2 Modifying Interpolation Type
Modifying only interpolation type is impossible. The interpo-

NOTE lation type can be modified as a choice for modifying the
position data.
1.) Move the cursor to the move instruction to be modified.

Display the JOB CONTENT window, and move the cursor to the move instruction for which interpola-
tion type is to be changed.
2.) Press [FWD].
Turn ON the servo power and press [FWD] to move the manipulator to the position of the move ins-
truction.
3.) Press [DELETE].
4.) Press [ENTER].
The cursor line step is deleted.
5.) Press [MOTION TYPE].
Press [MOTION TYPE] to change the interpolation type.
Each time [MOTION TYPE] is pressed, the input buffer line instruction alternates.
6.) Press [INSERT].
7.) Press [ENTER].

The interpolation type and position data are changed at the same time.
2.4.5 Un do Operation
After inserting, deleting, or modifying an instruction, the operation can be undone.
The UNDO operation becomes enabled by selecting {EDIT}{ENABLE UNDO}, and becomes
disabled by selecting {EDIT}{*ENABLE UNDO} while editing a job.
The undo operation can be performed even after the

manipulator is moved by the FWD or BWD operation or
test operation after inserting, deleting, or modifying a
move instruction. However, the undo operation cannot be
NOTE performed if other instructions are edited or a job is exe-
cuted in the play mode after editing the move instruction.
The undo operation works only for the last five edited
instructions only.
1.) Press [ASSIST].

The assist menu appears.
UNDO
REDO
2.) Select {UNDO}.

The last operation is undone.
3.) Select {REDO}.
The last UNDO operation is undone.
2.4.6 Modifying Reference Point Instructions
2.4.6.1 Deleting Reference Point Instructions
If the manipulator position differs from the cursor position,

an error message is displayed. If this occurs, follow either
of the procedures below.
Press [REFP] + [FWD] to move the manipulator to the
NOTE
position to be deleted.
Press [MODIFY] then [ENTER] to change the reference
point position data to the current position of the manipula-
tor.
1.) Move the cursor to the reference point instruction to be deleted.

2.) Press [DELETE].
3.) Press [ENTER].

The reference point instruction at the cursor line is deleted.
2.4.6.2 Modifying Reference Point Instructions

1.) Move the cursor to the reference point instruction to be modified.
2.) Move the manipulator with the axis operation keys.
Turn ON the servo power and use the axis operation keys to move the manipulator to the desired po-
sition.
3.) Press [REFP].
4.) Press [MODIFY].
5.) Press [ENTER].
The reference point instruction at the cursor line is changed.
2.4.7 Modifying Timer Instructions
2.4.7.1 Deleting Timer Instructions

1.) Move the cursor to the timer instruction to be deleted.
Timer instruction to be 0003 MOVJ VJ=50.00

deleted 0004 TIMER T=0.50
0005 MOVL V=138
2.) Press [DELETE].

3.) Press [ENTER].
The timer instruction at the cursor line is deleted.
0003 MOVJ VJ=50.00
0004 MOVL V=138
2.4.7.2 Modifying Timer Instructions

1.) Move the cursor to the timer instruction to be modified.
0003 MOVJ VJ=50.00
0004 TIMER T=0.50
0005 MOVL VJ=138
0006 MOVL VJ=138
2.) Press [TIMER].

0003 MOVJ VJ=50.00
0004 TIMER T=0.50
0005 MOVL VJ=138
0006 MOVL VJ=138
3.) Move the cursor to the input buffer line timer value.
Move the cursor to the input buffer line timer value and press [SHIFT] + the cursor key to set the da-
ta.

To use the Numeric keys to input data, move the cursor to the input buffer line timer value and press
[SELECT].
TIMER T=0.50
4.) Change the timer value.

5.) Press [MODIFY].
6.) Press [ENTER].
This key lamp will light.
2.5 Modifying Jobs
2.5.1 Calling Up a Job

2.) Select {SELECT JOB}.
The JOB LIST window appears.
3.) Select the desired job.
2.5.2 Windows Related to Job

There are five types of job windows. Jobs can be checked and edited in these windows.
JOB HEADER Window
Comments, data and time of registration, edit prohibit status, and so on are displayed and edited.
JOB CONTENT Window
The content of the registered job can be displayed and edited.
COMMAND POSITION Window
The taught data is displayed.
JOB LIST Window
The registered job is sorted alphabetically, then displayed, and the job is selected.

JOB CAPACITY Window
The number of registered jobs, amount of memory, number of steps used, etc. is shown.
2.5.3 JOB HEADER Window

2.) Select {JOB}.
3.) Select {DISPLAY} under the menu.
4.) Select {JOB HEADER}.
The JOB HEADER window appears. Scroll the window using the cursor.
A
B
C
D
E, F
G
H
I
A. JOB NAME
Displays the name of the current job.
B. COMMENT
Displays the comments attached to the current job. This can be edited in this window.
C. DATE
Displays the date and time of the last editing of the job.
D. CAPACITY
Displays the amount of memory that is being used to register this job.
E. LINES
Displays the total number of instructions registered in this job.
F. STEPS
Displays the total number of move instructions registered in this job.
G. EDIT LOCK
Displays whether the edit prohibit setting for this job is ON or OFF. This can be changed in this win-
dow.
H. TO SAVE TO FD
Displays DONE if the contents of the job have already been saved to an external memory after the
date and time of the last editing operation, and displays NOT DONE if they have not been saved.

The job is marked as DONE only if it is saved as an independent job or as a related job. If it is sa-
ved in a CMOS batch operation, it is not marked as DONE.
I. GROUP SET
Displays the control group that this job controls. If the master axis is specified, the master axis is
highlighted.
To return to the JOB CONTENT window from the JOB

HEADER window, select {DISPLAY} from the menu and
then select {JOB CONTENT}.
2.5.4 JOB CONTENT Window

2.) Select {JOB}.
(Left) : The cursor is moved to the address area.
(Right): The cursor is moved to the instruction area.
A B
A. Address Area
Displays line numbers.
B. Instruction Area
Displays instructions, additional items, and comments. Line editing is possible.
2.5.4.1 COMMAND POSITION Window

1.) Select {ROBOT} under the main menu.
2.) Select {COMMAND POSITION}.

Edit operations cannot be conducted on this window, but the taught play speed and position data can
be viewed on this window.
A B
C D
A. Interpolation
Displays the interpolation type.
B. Speed
Displays the play speed.
C. Command Position
Displays the tool file number and position data that has been taught for this job. Steps which have no
position data, such as move instructions which use position variables, are marked with an asterisk
(*).
D. Current Data
Displays the current tool file number and position of the manipulator.
2.5.5 JOB CAPACITY Window

2.) Select {JOB CAPACITY}.
A
B

A. NUMBER OF JOBS
Displays the total number of jobs currently registered in the memory of DX100.
B. USED MEMORY
Displays the total amount of memory used in the DX100.
C. STEPS
Displays the total number of used steps.
D. EDITING BUFFER
Displays editing buffer use.
2.6 Editing Instructions

The editable content differs depending on whether the cursor is in the address area or instruction
area.
A
B
A. When the cursor is in the address area

Instructions can be inserted, deleted, or modified.
B. When the cursor is in the instruction area
The data of additional items of already-registered instructions can be modified, inserted, or deleted.
Editing only additional items is called line editing.
When inserting or modifying instructions, input the instruction with the function keys such as [TI-
MER], etc. or by using the instruction list dialog box.
The selected instruction is displayed on the input buffer line with the same additional items as regis-
tered previously.
If the addition, deletion or modification of additional item is needed, edit on the instruction DETAIL
EDIT window. If it is not needed, continue the registration process.

2.6.1 In struction Group
The instructions are divided into eight groups by processing or each work.
Display Instruction Group Content Example
IN/OUT I/O Instruction Controls input and output DOUT, WAIT
CONTROL Control Instruction Controls processing and each work JUMP, TIMER
MOTION Move Instructions Moves the manipulator MOVJ, REFP
DEVICE Work Instructions Operates arc welding, spot welding, handling, ARCON, WVON,
painting, etc. SVSPOT, SPYON
ARITH Operating Performs arithmetic calculation ADD, SET
Instructions
SHIFT Shift Instructions Shifts the teaching point SFTON, SFTOF
SENS (Option) Sensor Instructions Instructions related to the sensor COMARCON
(Option)
OTHER Other Instructions Instructions for functions other than above SHCKSET
SAME - Specifies the instruction where the cursor is.
PRIOR - Specifies the previously-registered instruction.
Instruction List
INFORM
By pressing [INFORM LIST] LIST , the instruction group list dialog box appears.
By selecting a group, the instruction list dialog box of the selected group appears.

2.6.2 In serting Instructions
1.) Move the cursor to the address area in the JOB CONTENT window.
Move the cursor to the line immediately before where the instruction is to be inserted, in the teach
mode.
Line before where

instruction is to be
added
2.) Press [INFORM LIST].

The INFORM command list appears, and an underline is displayed beneath the line number in the
address area.
3.) Select the instruction group.

The instruction list dialog box appears. The selected instruction is displayed on the input buffer line with the
same additional items as registered previously.
1.) Select the instruction.

2.) Change the data of additional items or variables as required.
<When Nothing is to be Changed>
(1) Proceed to Step 6.
<When Additional Items are to be edited>

1. Changing numeric data
(1) Move the cursor to the desired item and press [SHIFT] + the cursor key to increase or decrease
the value.
(2) To directly input the value using Numeric keys, press [SELECT] to display the input buffer line.
(3) Type the value and press [ENTER]. The value on the input buffer line is changed.
2. Adding, modifying, or deleting an additional item
(1) To add, modify, or delete an additional item, move the cursor to the instruction on the input buffer
line and press [SELECT]. The DETAIL EDIT window appears.
To add an item, move the cursor to UNUSED and press [SELECT]. The selection dialog box ap-
pears.
(2) Move the cursor to the desired item and press [SELECT].
To delete an item, move the cursor to the item to be deleted and select UNUSED.
3. Changing the data type

(1) To change the data type of an additional item, move the cursor to of the item and press [SE-
LECT]. The data type list appears. Select the desired data type.
After additional items have been added, modified or deleted as required, press [ENTER]. The DE-
TAIL EDIT window closes and the JOB CONTENT window appears.
Press [INSERT] and [ENTER].
The instruction displayed in the input buffer line is inserted.
2.6.3 De leting Instructions

Move the cursor to the instruction line to be deleted, in the teach mode.
The line to be
deleted
2.) Move the cursor to the deleting line in the address area.
3.) Press [DELETE] and [ENTER].
The instruction is deleted and the following lines move up.
The following lines
move up

2.6.4 Mod ifying Instructions
Move the cursor to the instruction line to be modified, in the teach mode.
Instruction line to be
changed
2.) Press [INFORM LIST].

The INFORM command list appears and the cursor moves to the INFORM command list.
3.) Select the instruction group.

The instruction list dialog box appears. The selected instruction is displayed on the input buffer line
with the same additional items as registered previously.
4.) Select the instruction to be modified.

5.) Change the data of additional items or variables as required.
<Editing Additional Items>
1. Changing numeric data

(1) Move the cursor to the desired item and press [SHIFT] + the cursor key to increase or decrease
the value.
To directly input the value using Numeric keys, press [SELECT] to display the input buffer line.
(2)Type the value and press [ENTER]. The value on the input buffer line is changed.
2. Adding, modifying, or deleting an item
(1)To add, modify or delete an additional item, move the cursor to the instruction on the input buffer
line and press [SELECT]. The DETAIL EDIT window appears.
(2)To add an item, move the cursor to UNUSED and press [SELECT]. The selection dialog box ap-
pears.
(3) Move the cursor to the desired item and press [SELECT].
To delete an item, move the cursor to the item to be deleted and select UNUSED.

3. Changing the data type
(1) To change the data type of an additional item, move the cursor to of the item and press [SE-
LECT]. The data type list appears. Select the desired data type.
(2) After additional items have been added, modified or deleted as required, press [ENTER]. The
DETAIL EDIT window closes and the JOB CONTENT window appears.
1.) Press [MODIFY] and [ENTER].
The instruction is modified to the instruction displayed in the input buffer line.
2.6.5 Modifying Additional Numeric Data

1.) Move the cursor to the instruction area in the JOB CONTENT window.
2.) Select the line where the number data is to be modified.
The selected line can now be edited.
Number data to be
modified
3.) Move the cursor to the numeric data to be modified.

4.) Input the desired number.

Press [SHIFT] + the cursor key to increase or decrease the value. To directly input the number,
press [SELECT]. The input buffer line appears. Type the number and press [ENTER].
5.) Press [ENTER].

The numeric data is modified.
Instruction line for

wich numeric data
was changed
2.6.6 Modifying Additional Items

2.) Select the instruction line for which the additional item is to be modified.
Instruction line for which

additional item is to be
modified

4.) Select the additional item to be modified.

5.) Select the desired additional item.

The modified additional item is displayed on the DETAIL EDIT window.
6.) Press [ENTER].

The DETAIL EDIT window closes, and the JOB CONTENT window appears.
7.) Press [ENTER].
Contents of the input buffer line are registered on the cursor line of the instruction area.
Instructio line for

which additional item
was modified
2.6.7 In serting Additional Items

2.) Select the instruction line for which the additional item is to be inserted.
Instructio line for which
additional item is
to be added

4.) Select the additional item to be inserted.

The additional item is inserted.
When the additional item needs the numeric data, move the cursor to the number and press [SE-
LECT]. The input buffer line appears. Type the number and press [ENTER].
5.) Select inserting additional item.

6.) Press [ENTER].

which additional
item was added
2.6.8 Deleting Additional Items
NOTE This operation cannot be used for the additional item which
is locked.
2.) Select the line where the additional item is to be deleted.
The selected line can be now be edited.

which additional item
is to be deleted

4.) Select the additional item to be deleted.

5.) Select UNUSED.

UNUSED is displayed on the DETAIL EDIT window.
6.) Press [ENTER].

7.) Press [ENTER].
Instruction line for which

the additional item was
deleted
2.7 Editing Jobs

The following five operations are to edit jobs.
Copy :Copies a specified range to the buffer.

Cut :Copies a specified range from a job to the buffer, and deletes
it in a job.
Paste :Inserts the contents of the buffer into a job.
Reverse Paste :Reverses the order of the contents of the buffer, and inserts
them into a job.
(Refer to the following figure.)
Base Reverse :Reverses the order of the contents of the buffer and adjusts
Paste the to-and-from speeds same, and inserts them into a job.
(Refer to the following figure.)

Copy 0000 NOP
0001 'TEST JOB
MOVJ VJ=50.00
0002 MOVJ VJ=50.00
TIMER T=1.00 0003 TIMER T=1.00
MOVL V=100 Cut 0004 MOVL V=100
0005 MOVL V=100
0000 NOP
0001 'TEST JOB
0005 MOVL V=100
0000 NOP
Paste 0001
0002
'TEST JOB
MOVJ VJ=50.00
0003 TIMER T=1.00
The buffer content is inserted 0004 MOVL V=100
0005 MOVL V=100
0000 NOP
0001 'TEST JOB
Reverse paste 0002 MOVL V=100
0003 TIMER T=1.00
Buffer content order is reserved and inserted 0004
0005
MOVJ VJ=50.00
MOVL V=100
2.7.1 Se lecting the Range

After setting the range, Copy and Delete can be performed.
Move the cursor

to instructio area.
2.) Move the cursor to the start line and press [SHIFT] + [SELECT].

The range specification begins, and the address is displayed in reverse.
Start Line
End Line
3.) Move the cursor to the end line.

The range is varied by moving the cursor. Up to the line specified by the cursor is the range.
2.7.2 Co pying
Before copying, the range to be copied has to be specified.
1.) Select {EDIT} under the menu.
The pull-down menu appears.
2.) Select {COPY}.

The specified range is copied to the buffer.
2.7.3 Cu tting
Before cutting, the range to be cut has to be specified.

2.) Select {CUT}.

The confirmation dialog box appears. When YES is selected, the specified range is deleted and
copied to the buffer.
When NO is selected, the cutting operation is cancelled.
2.7.4 Pa sting
Before pasting, the range to be pasted has to be stored in the buffer.
1.) Move the cursor to the line immediately before the desired position in the JOB CONTENT win-
dow.

3.) Select {PASTE}.

The confirmation dialog box appears.
When YES is selected, the contents of the buffer are inserted to the job.
When NO is selected, the pasting operation is cancelled.
2.7.5 R everse Pasting

Before pasting, the range to be pasted has to be stored in the buffer.
1.) Move the cursor to the line immediately before the desired position in the JOB CONTENT win-
dow.
3.) Select {REVERSE PASTE}.

The confirmation dialog box appears.
When YES is selected, the contents of the buffer are reverse pasted to the job.
When NO is selected, the reverse-pasting operation is cancelled

2.8 Test Operations
Playback operations can be simulated in the teach mode with test operations. This function is con-
venient for checking continuous paths and operation instructions.
Test operation differs in the following ways from actual playback in the play mode.
Operation speeds greater than the maximum teaching

speed are reduced to the maximum teaching speed.
NOTE Only machine lock is available among special operations

for playback in the play mode.
Work instruction output, such as arc output, is not exe-
cuted.
2.8.1 T est Operation Procedures

Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes,
these keys will only function while the keys are held down.
2.) Press {JOB}.
The test operation JOB CONTENT window appears.
3.) Press [INTERLOCK] + [TEST START].
The manipulator starts the test cycle operation.
The manipulator moves only while these keys are held down. However, after the operation starts, the
motion continues even if [INTERLOCK] is released.
The manipulator stops immediately when [TEST START] is released.
NOTE Always check safety conditions before starting the manipu-

lator in motion.
2.9 Other Job-editing Functions
2.9.1 Ed iting Play Speed

There are two ways to modify play speed:
Modification of Speed Type
Relative Modification

2.9.1.1 Modification of Speed Type
This method is used to modify the speed type (such as VJ, V, VR, etc.)
0005 MOVJ VJ=25.00

0006 MOVL V=138
0007 MOVJ VJ=50.00
Only VJ is changed to 100.
0005 MOVJ VJ=100.00

0006 MOVL V=138
0007 MOVJ VJ=100.00
Type of Explanation
Play Speed
VJ Joint Speed Normal robot axes
V TCP Speed
VR Posture Angle Speed
VE Base Axis Speed
2.9.1.2 Relative Modification

All steps are selected regardless of the play speed type. This method is used to change all steps by
a specified percentage (1% to 200%). This is called relative modification.
0005 MOVJ VJ=25.00

0006 MOVL V=138
0007 MOVJ VJ=50.00
Speed is doubled
0005 MOVJ VJ=50.00

0006 MOVL V=276
0007 MOVJ VJ=100.00
The speed of the entire job or specified section can be changed.

2.) Select {JOB}.
3.) Move the cursor to the instruction area.
4.) Press [SHIFT] + [SELECT] in the speed modify start line.
If the section is not specified, the speed of the entire job will be changed.
Move the cursor to the end line. The line numbers of the selected lines are highlighted.
6.) Select {CHANGE SPEED}.

The SPEED MODIFICATION window appears.
A
B
C
D
E
7.) Set desired items.

A. START LINE NO.
Displays the first line number of the section to be modified.
B. END LINE NO.
Displays the last line number of the section to be modified.
C. MODIFICATION TYPE
Selects the confirmation before changing: CONFIRM or NO CONFIRM.
Each time [SELECT] is pressed when the cursor is on this item, the setting alternates between
CONFIRM and NO CONFIRM.
D. SPEED KIND
Selects the speed type.
When [SELECT] is pressed when the cursor is on this item, selection dialog box appears. Select the
speed type to be changed.
E. SPEED
Specifies the speed value.
When [SELECT] is pressed when the cursor is on this item, the mode changes to the number input
mode. Input the speed value and press [ENTER].
8.) Select EXECUTE.

The speed begins to change.
If MODIFICATION TYPE is set to CONFIRM, the confirmation dialog box Modifying speed is dis-
played. Press [ENTER] to change the speed on the first line and search for the next speed. Press
the UP/DOWN cursor button to keep the speed on the first line and search for the next speed. To
cancel the speed modification, press [CANCEL].
If MODIFICATION TYPE is set to NOT CONFIRM, all the speeds of the specified section are
changed.

2.9.1.3 Modification by TRT (Traverse Time)
Modifications made by TRT have the following characteristics:
By setting the time required to execute a move instruction (moving time) to a desired value, the
speeds can be modified.
It is possible to measure the moving time without actually moving the manipulator.
For example, when the movement from lines 5 through 20 currently requires 34 seconds, and you
want to reduce it to 15 seconds or extend it to 50 seconds, this function is used.
2.) Select {JOB}.
4.) Press [SHIFT] + [SELECT] in the weaving time measure start line.
Move the cursor to the end line. The line numbers of the selected lines are highlighted.
6.) Select {TRT}.
The TRT window appears.
A
B
C
D
7.) Set the desired items.

A. START LINE NO.
Displays the first line number of the section to be measured and modified.
B. END LINE NO.
Displays the last line number of the section to be measured and modified.
C. MOVING TIME
The weaving time needed to move from the first number to last number is measured and
displayed.
D. SETTING TIME

Set the desired weaving time.
When [SELECT] is pressed when the cursor is on this item, the input buffer line appears. Input the
desired weaving time and press [ENTER].
8.) Select EXECUTE.

The speed is changed according to the setting.
If instructions that include specific speed data such as

SPEED or ARCON instructions (including speed data of
the welding condition file) exist in the specified section, the
speed data for those steps are not changed. Therefore, in
NOTE such cases, the set time and the actual time required are
not same.
If the speed data is limited by the maximum value, the fol-
lowing message is displayed.
!Limited to maximum speed
2.9.2 Editing Interpolation Type

2.) Select {JOB}.
4.) Select the line to be modified.
The instruction on the cursor is displayed in the input buffer line.
5.) Press [SHIFT] + the cursor key simultaneously.

The interpolation type in the input buffer line changes.
The modification of the speed according to the modification of the interpolation type is calculated by
the ratio to maximum speed at each speed.
Joint Speed: MAX=100.0%
Linear Speed: MAX=9000cm/min

(e.g.)
Joint Speed: 50% = Linear Speed: 4500cm/min
Linear Speed: 10% = Linear Speed: 900cm/min
6.) Press [ENTER].

The instruction on the cursor line is replaced with one on the input buffer line.
2.9.3 Editing Condition Files

Condition files are prepared in order to set the conditions for the manipulator to execute instructions.
Multiple condition files are provided for each application. More than one pattern can be set up in
each condition file. The patterns are listed by condition numbers. This number is specified by the
work instruction in a job.
Refer to DX100 Operators Manual of each application for

NOTE information regarding the contents and editing methods of
the condition file.

Application A Application B Application C
Condition Condition Condition

Condition Condition Condition
Number 1 Condition Number 1 Number 1 Condition
Number 2 Number 2 Number 2 Condition
Number 3 Number 3
Number 4
2.9.4 Use r Variables

User variables are used for jobs to store counters, calculation results or input signals. Since
the same user variable can be used in multiple jobs, save the numerical values as common re-
ferences for the jobs and the user variables are maintained even when the power is turned
OFF.
User variables have the following applications:
Controlling of the number of workpieces
Controlling of the number of jobs
Sending/receiving of information between jobs
The data formats for user variables are described in the following table:
Table 2-1: User Variables

Data Variable No. Functions
Format (pcs)
Byte Type B000 to B099 Range of storable values is
(100) from 0 to 255.
Can store I/O status.
Can perform logical opera-
tions (AND, OR, etc.)
Integer 1000 to 1099 Range of storable values is
Type (100) from -32768 to 32767.
Double D000 to D099 Range of storable values is
Precision (100) from -2147483648 to
Integer 2147483647.
Type
Real Type R000 to R099 Range of storable values is
(100) from -3.4E+38 to 3.4E38.
Accuracy: 1.18E-38 < x
3.4E38
Character S000 to S099 Maximum storable number of
Type (100) characters is 16.

Table 2-1: User Variables Condition Files
Data Variable No. Functions
Format (pcs)
Position P000 to P127 Can store position data in
Type (128) pulse form or in XYZ form.
BP000 to BP127 XYZ type variable can be used
(128) as target position data for
move instructions, and as
EX000 to EX127
incremental values for parallel
(128)
shift instructions.
Play Speed V:
MOVL V=I000
The variable I000 is used for speed V with this move
instruction.
The unit for V is 0.1mm per second.
For example, if I000 were set as 1000, the following would
be true:
I000=1000 unit for V is 0.1mm/s V=100.0mm/s
Note that, depending on the unit being used, the value of
the variable and the value of the actual speed on occasion
might not match.
NOTE Play Speed VJ:

MOVL VJ=I000
The unit for VJ is 0.01%.
be true:
I000=1000 unit for VJ is 0.01% VJ=10.00%.
Timer T:
TIMER T=I000
The unit for T is 0.01 seconds.
be true:
I000=1000 unit for T is 0.01 seconds T=10.00 sec-
onds.
2.9.4.1 Setting Byte, Integer, Double Precision Integer, and Real Type Variables
1.) Select {VARIABLE} under the main menu.
{BYTE}, {INTEGER}, {DOUBLE}, and {REAL} are displayed for the sub menu.
2.) Select desired variable type.

The BYTE VARIABLE window appears. (Following is a case that {BYTE} is selected.)
3.) Move the cursor to the desired variable No.

When the desired variable number is not displayed, move the cursor with either of the following ope-
rations.
Move the cursor on the variable No. and press [SELECT]. Then input the variable No. using the Nu-
meric keys and press [ENTER].
Move the cursor to the menu area and select {EDIT} {SEARCH}. Then input the variable No. with
the Numeric keys and press [ENTER]
Cursor is moved to desired

variable number.
4.) Move the cursor to the data of the variable.

The number can be directly typed.
5.) Input the desired number.
6.) Press [ENTER].
Input value is set to the variable on the cursor position.

2.9.4.2 Setting Character Type Variables
2.) Select {STRING}.
The STRING VARIABLE window appears.
3.) Move the cursor to the desired variable No.

rations.
Move the cursor on the variable No. and press [SELECT]. Then input the variable No. using the Nu-
meric keys and press [ENTER].
the Numeric keys and press [ENTER]
The cursor is moved to

desred variable
number
4.) Move the cursor to the data of the variable.

The characters can be directly typed.
5.) Input the desired characters.
For information on character input operation, refer to .
6.) Press [ENTER].

The input characters are set to the variable on the cursor position.
2.9.4.3 Registering Variable Name

2.) Select desired variable.
Select any variable type from among byte type, integer type, double precision integer type, real type,
robot position type, base position type, and station position type.
3.) Move the cursor to desired variable number.
If desired variable number is not displayed, move the cursor by either of following operations.
Select the variable number, input desired variable number and press [ENTER]. The cursor moves to
the variable number to be input.
Move the cursor to the menu area and select {EDIT}{SEARCH}. Input desired variable number
and press [ENTER]. The cursor moves to the variable number to be input.
4.) Select NAME.
The input buffer line appears.
SUPPLE- Refer to for the character input operation.

MENT
5.) Input name.

6.) Press [ENTER].
The variable name is registered.
2.9.4.4 Displaying Position Variables

2.) Select desired position variable type.

The POSITION VARIABLE window of desired type among robot type, base type, and station type ap-
pears.
GO BACK GO BACK
3.) Press the page key PAGE

or [SHIFT] + page key PAGE
.
rations.
Press [DIRECT PAGE]. Then input the variable No. using the Numeric keys and press [ENTER].
the Numeric keys and press [ENTER].
Move to desired
variable number page.
2.9.4.5 Setting Position Variables

The following table shows the types of position variables and setting methods.
The setting of position variables is done in the teach

NOTE mode.
Turn the servo power ON when setting the variables with
the axis keys.

Table 2-2: Types of Position Variables and Setting Method
Pxxx BPxxx EXxxx
Type (Robot) (Base) (Station)
Pulse Type XYZ Type Pulse Type XYZ Type Pulse Type
Select coordinates
from base, robot,
user, tool.
Z-axis
Setting Method
Using the numeric keys
45000
7 8 9
4 5 6
1 2 3
0 . -
Y-axis
X-axis
Using the axis keys
X- X+ X- X+
S- S+ R- R+
Y- Y+ Y- Y+
L- L+ B- B+
Z- Z+ Z- Z+
U- U+ T- T+
E- E+ 8- 8+
2.9.4.6 Setting Position Variables Using the Numeric Keys

Pulse Type


The desired variable window appears (robot, base, or station). (The POSITION VARIABLE window
is used for this example.)
3.) Select the variable data type.

If the position variable was set before, confirmation dialog box appears for data clear. If YES is se-
lected, the data is cleared.
4.) Select {PULSE}.

5.) Move the cursor to desired data to be input and press [SELECT].
6.) Input the value.
7.)Press [ENTER].
The value is set in the cursor position.

XYZ Type

3.) Select the variable data type.
4.) Select desired coordinates except PULSE.

5.) Move the cursor to desired data to be input and press [SELECT].
6.) Input the value.
7.) Press [ENTER].
The value is set in the cursor position.
(1)Setting of <TYPE>
Each time [SELECT] is pressed when the cursor is on the setting data in the input buffer line, the set-
tings alternate.
About <TYPE>
It is not necessary to set a type if the position variable is to be used for parallel shift operations.
When the position variable is used with a move instruction such as MOVJ P001, it is necessary to
set a type. For details on types, refer to . Current Position Window (XYZ) shows the current setting
of a type.

2.9.4.7 Setting Position Variables Using the Axis Keys
Pulse Type

The desired variable window appears (robot, base, or station).
3.) Press [SHIFT] + [ROBOT]. When you need an external axis position, press [SHIFT]+[EX.AXIS].
When there are two or more robot, base, or a station, specify the axis with following operation.
Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on the status line changes:
R1 R2 ... R8.
Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on the status line changes:
B1 B2 ... B8 S1 S2 ...... S24.
Check the selected axis on the status line.
4.) Move the manipulator with the axis keys.
Move the manipulator or the external axis to the desired position to be set to position variable.
5.) Press [MODIFY].
6.) Press [ENTER].
XYZ Type

When there are two or more robot, base, or a station, specify the axis with following operation.
Robot
R1 R2 ... R8.
Base or Station
B1 B2 ... B8 S1 S2 ...... S24.
Check the selected axis on the status line.
3.) Move the manipulator with the axis keys.
Move the manipulator or the external axis to the desired position to be set to position variable.
4.) Press [MODIFY].
5.) Press [ENTER].
2.9.4.8 Deleting Data Set of Position Variables


3.) Select {DATA} under the menu.
4.) Select {CLEAR DATA}.

The position variable data on the displayed page are deleted.
2.9.4.9 Checking Positions by Position Variables

(1) When there are two or more robot, base, or a station, specify the axis with following operation.
Robot
R1 R2 ... R8.
Base or Station
B1 B2 ... B8 S1 S2 ...... S24.
(2) Check the selected axis on the status line.
3.) Press [FWD].
Selected axis moves to the position specified by the variable.
The selected axis (manipulator, base, or station) moves

directly to the set variable position.
NOTE Before pressing [FWD], check that the surrounding area is
safe.

2.9.4.10 Manipulator Types
When the position data of the job data are described using the XYZ format, several postures may be
taken according to the manipulators structure when moving it to the described position.
Although these postures have the same coordinates for TCP, they vary in pulse for each axis.
Thus, the manipulators posture cannot be uniquely defined only by the coordinate value, and it is
necessary to specify the data other than the coordinate value to define the manipulators posture.
This is called Type.
Type varies according to the manipulator model.
For the manipulator with seven axes, X, Y, Z, Rx, Ry, Rz, Re

and Type are used.
Re is an element to indicate the posture of the manipulator
with seven axes and does not change by the specified coor-
dinates.
The definition of Re is shown below.
NOTE
2.9.5 Flip/No Flip

When the angle of B-axis is within (+) range (B 0), it is called Flip, and when within (-) range
(B < 0), No Flip.

2.9.6 R- axis Angle
This specifies whether the R-axis angle is less than 180 or greater than 180.
R < 180 R 180
0 0
360 -360
-180 180
-180 < R 180 180 < R 360, -360 < R -180
NOTE R is the angle when the R-axis home position is 0 .
2.9.7 T -axis Angle

This specifies positions of the R-, B-, and T-axis.
For manipulators with wrist axes (three axes), this specifies whether the T-axis angle is less than
180 or greater than 180

T <180 T 180
0 0
360 -360
-180 180
-180 < T 180 180 < T 360, -360 < T -180
NOTE T is the angle when the T-axis home position is 0.
2.9.8 Fr ont/Back
This specifies where in the S-axis rotation center the B-axis rotation center locates when viewing the
L-axis and U-axis from the right-hand side. When viewed from the right-hand side, the right of the S-
axis rotation center is called the front, and the left is called the back.
Right-hand side
(S-axis 0 )
The diagram below shows the S-axis at 0 and at 180. This is the configuration when the L-axis and
the U-axis are viewed from the right-hand side.

S-axis 0 S-axis 180
Back Front Front Back
For the manipulator with seven axes, this specifies where in the S-axis rotation center the U-axis ro-
tation center locates when viewing the L-axis and U-axis from the right-hand side.
When viewed from the right-hand side, the right of the S-axis rotation center is called the front, and
the left is called the back.
Back Front

2.9.9 Up per Arm/Lower Arm
This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are viewed from the
right-hand side.
Right-hand side
Upper Arm Lower Arm
2.9.10 S-a xis Angle

This designation is required for the manipulators which have working envelopes greater than 180.
This specifies whether the S-axis angle is less than 180 or greater than 180
S<180 S 180
0 0
360 -360
-180 180
-180 < S 180 180 < S 360

-360 < S -180

NOTE S is the angle when the S-axis home position is 0.
2.9.11 Ed iting Local Variables

As well as user variables, local variables can be used for the storage of counters, calculations, and
input signals. The data format is the same as that of user variables. As shown in the following table,
the letter L is affixed to the variable number to indicate a local variable.
Table 2-3: Local Variables

Data Format Variable No. Functions
Byte Type Range of storable values is
from 0 to 255.
LB000 to
Can store I/O status.
LB
Can perform logical opera-
tions (AND, OR, etc.)
Integer Type Ll000 to Range of storable values is
LI from -32768 to 32767.
Double Precision Range of storable values is
LD000 to
Integer Type from -2147483648 to
LD 2147483647.
Real Type Range of storable values is
LR000 to from -3.4E+38 to 3.4E+38
LR Accuracy: 1.18E-38 < x
3.4E+38
Character Type LS000 to Maximum storable number of
LS characters is 16.
Position Robot Axes LP000 to Can store position data in
Type LP pulse form or in XYZ form.
XYZ type variables can be
Base Axes LBP000 to used as target position data
LBP for move instructions, and as
Station Axes LEX000 to incremental values for parallel
LEX shift instructions.
Local variables differ from user variables in the following four ways:
Used in One Job Only
With user variables it is possible to define and use one variable in multiple jobs, but local variables
are used only in the job in which they are defined, and cannot be read from other jobs.
Accordingly, local variables do not affect other jobs, so it is possible to define a variable number
(such as LB001) separately in different jobs, and use it in different ways in each of these jobs.

User Variable
B001
Job1 Job2 Job3
Local Local Local

Variable Variable Variable
Job1 Job2 Job3
LB001 LB001 LB001
User Variables Local Variables
Able to Use Any Number of Variables

The number is set in the JOB HEADER window. When the number is set, the area for the value is
saved in memory.
Not Able to Display the Variable Contents

To display the local variable contents, user variables are needed.
For example, to view the contents of local variable LP000, save it temporarily as user variable P001.
Then execute the instruction SET P001 LP000, and view the POSITION VARIABLE window for
P001.
Enabled Only During the Execution of the Defined Job

The contents of the local variables are enabled only during the execution of the defined job.
The local variable field is assured when the defined job is called (when the job is executed by a CALL
or JUMP instruction, or the job is selected by the menu). Once the job is completed by the execution
of a RET, END, or JUMP instruction, the local variable data that was set is disabled. However, if a
job which uses local variables itself calls a separate job, then is returned by use of a RET instruction,
the data that was present prior to the CALL instruction remains in effect and can be used.
Precautions for Variables and Units

As was the case with user variables, note that, depending
NOTE on the value of the unit being used, the value of the variable
and the value of the actual speed or time an occasion might
not match. Refer to <Hyperlink>chapter "" at page 2-81.
2.9.11.1 Setting the Number of Local Variables

The number of local variables used in a job is set in the JOB HEADER window. When the number of
local variables is set, memory is allocated for those variables.
Only when expanding the INSTRUCTION LEVEL, it is

NOTE possible to use local variables. Refer to 8.12 Instruction
Level Setting of DX100 INSTRUCTIONS (RE-CTO-A215)
for details on setting the language level.

2.) Select {JOB}.
3.) Select {DISPLAY} under the menu.
4.) Select {JOB HEADER}.
The JOB HEADER window appears. Scroll the window using the cursor.
5.) Select the number of local variables to be set.

The input buffer line appears.
6.) Input the number of variables.
7.) Press [ENTER].
The number of local variables are set.
2.9.12 Sea rch

When editing or checking, jobs and steps can be searched for. Search can be done when the cursor
is in either the address or instruction area on the JOB CONTENT window.

2.) Select {JOB}.
4.) Select {SEARCH}.

5.) Select the search type.
Search is an operation by which the cursor is moved to a specific step or instruction in the edit job.
The desired item can be instantly searched for without using the cursor.
2.9.12.1 Line Search

This function moves the cursor to the desired line number.
1.) Select {EDIT], {SEARCH} and LINE SEARCH.

The number can be entered.
2.) Input desired line number.
3.) Press [ENTER].

The cursor is moved to the line number and the window appears.

2.9.12.2 Step Search
This function moves the cursor to the desired step number (move instruction).
1.) Select {EDIT], {SEARCH} and STEP SEARCH.
The number can be entered.
2.) Input desired step number.
3.) Press [ENTER].

The cursor is moved to the input step and the window appears
2.9.12.3 Label Search

This function searches for the desired label and the instruction using that label.
1.) Select {EDIT}, {SEARCH} and LABEL SEARCH.
The characters can be entered.
2.) Input desired label name.
For information on character input operation, refer to.
At this time, search can be conducted by entering any one character of the label. For example, to
search for the START label, enter only S, and the search can be done.
3.) Press [ENTER].

The cursor is moved to the desired label and the window appears.
4.) Use the cursor to continue search.

While searching, forward search and backward search are possible by pressing the cursor key.
To end search, select {EDIT} {END SEARCH} on the menu and press [SELECT].
2.9.12.4 Instruction Search

This function moves the cursor to a desired instruction.
1.) Select {EDIT}, {SEARCH} and INSTRUCTION SEARCH.

The INFORM command list appears.
2.) Select desired instruction group.

3.) Select desired instruction.
The cursor is moved to the selected instruction and the window appears.


To end search, select {EDIT} {END SEARCH} on the menu and press [SELECT], or press [CAN-
CEL].
2.9.12.5 Tag Search

This function moves the cursor to the desired tag.
1.) Select {EDIT}, {SEARCH} and TAG SEARCH.
The instruction list dialog box appears
2.) Select desired instruction group.

3.) Select desired instruction for which the tag is to be searched.

The tag list dialog box for selected instruction appears.
4.) Select the desired tag.

The cursor is moved to the selected tag and the window appears.


To end search, select {EDIT} {END SEARCH} on the menu and press [SELECT], or press [CAN-
CEL].

3 Alarm
3.1 Outline of Alarm

When an alarm of level 0 to 3 (major alarm) occurs, the servo power supply is turned OFF.
Table 2-4: Alarm Code Classification
Alarm
Alarm Level Alarm Reset Method
Code
Level 0 (Major alarm) It is not possible to reset by

(Off line alarm: Initial "RESET" under the ALARM win-
diagnosis/ Hardware dow or the system input signal
diagnosis alarm) (Alarm reset). Turn OFF the
0
main power supply and correct
the cause of the alarm. Then
turn ON the main power supply
again.
Level 1 to 3 (Major It is not possible to reset by

alarm) "RESET" under the ALARM win-
dow or the system input signal
1
(Alarm reset). Turn OFF the
to
main power supply and correct
3
the cause of the alarm. Then
turn ON the main power supply
again.
For Minor alarms (4 to 9) refer to the

NOTE
Document - CD which is delivered with your system

3.2 Alarm Display
3.2.1 Displaying and Releasing Alarm

If an alarm occurs during operation, the manipulator stops immediately and the ALARM window ap-
pears on the programming pendant indicating that the machine was stopped by an alarm.
JOB
Alarm
Alarm number Alarm 4100 [1] Sub data

OVERRUN ( ROBOT)
Alarm 4321 [SLURBT]
Alarm message
OVERLOAD (MOMENT)
Alarm 4315 [SLURBT]
COLLISION DETECT
OCCUR TIMES: 1
RESET
If more than one alarm occurs simultaneously, all the alarms are displayed. Scroll the viewing area
with the cursor key to view the alarm that is not currently displayed on the viewing area.
The following operations are available in the alarm status: window change, mode change, alarm re-
set, and emergency stop. If the window is changed to another window during alarm occurrence, the
ALARM window can be shown again by selecting {SYSTEM INFO} under the main menu and then se-
lecting {ALARM}.
2.2.1.1 Releasing Alarms

Alarms are classified by minor and major alarms.
Minor Alarms
Select "RESET" on the ALARM window to release alarms.
Or, turn ON the specific signal "ALARM RESET" when using an external input signal (specific input).
Major Alarms
If a severe alarm such as hardware failure occurs, servo power is automatically shut OFF and the ma-
nipulator stops. Turn OFF the main power supply, remove the cause of the alarm, and then turn ON
the power supply again.

2.2.2 Special Alarm Display
(1) Sub Data
Sub data such as data for the axis where the alarm occurred, may
also be displayed for some alarms.
Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
Binary data
The alarm occurrence data becomes 1.
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 8 [ S L U R B T ]
With base axis: Robots 1 to 8 [ 1 2 3 ]
With station axis: Stations 1 to 24 [ 1 2 3 ]
XYZ coordinate data

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

The control group where the alarm occurred is highlighted.
[ R1 R2 S1 S2 S3 ]
(2) Multiple SERVOPACK System

In a system using more than one SERVOPACK, the number of the
SERVOPACK where the alarm occurred is also displayed. The S1
switch of the EAXA01 circuit board shows the SERVOPACK number.
SV#1: SERVOPACK 1 (EAXA01 circuit board S1 switch: 0)

(3) Independent Control Function (Optional)
In the independent control function (multi-task job), the tasks that were
being done when the alarm occurred are also displayed.
TASK#0: Master-task job
TASK#1: Sub-task1 job (SUB1)
2.3 Alarm Message List
Before handling the system control circuit board JANCD-YIF

for any remedies, consult YASKAWA representative. To handle the
JANCD-YIF, personnel must be appropriately skilled in
maintenance mode operation.
JANCD-YIF backs up very important file data for the user
program with a battery. Careless operation may delete
registered data.

Alarm Alarm Name Sub Meaning Cause Remedy
Number Code
0020 CPU 1 No response was sent Software (1)Turn the power OFF then back ON.
COMMUNICATION from the YCP01 board operation (2)If the alarm occurs again, save the CMOS.BIN in
ERROR when the control power error occurred maintenance mode,
turned ON. and then contact your Yaskawa representative about
occurrence status
(operating procedure).
Connection (1)Turn the power OFF then back ON.

failure (2)If the alarm occurs again, check the connection and
insertion of the
following connectors.
The PCI connector of YCP01 board
The PCI connector of the YIF01 board
YCP01 board (1)Turn the power OFF then back ON.

failure (2)If the alarm occurs again, replace the YCP01 board.
Save the CMOS.BIN before replace the board to be safe.
Replace the YCP01 board, and then remove
the CF from the failure YCP01 board to insert it into the
new YCP01 board.
YIF board failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the YIF01 board.
Replace the YIF01 board, and then load the CMOS.BIN
saved before alarm occurred.
20 No response was sent Setting error (1)Check the following settings.

from the optional board Optional board setting in maintenance mode
#1 when the control
power turned ON.

insertion of the following connector.
The PCI connector of YCP02 board
Board failure (1)Turn the power OFF then back ON

(YCP02 board) (2)If the alarm occurs again, replace the following board.
YCP02 board

Replace the YCP01 board, and then remove the CF from
the failure YCP01 board to insert it into the new YCP01
board.

from the optional board The optional board setting in maintenance mode
#2 when the control
power turned ON.

Number Code

The PCI connector of the YCP02 board
Board failure (1)Turn the power OFF then back ON.

YCP02 board

board.

from the servo board #1 Control group settings in maintenance mode
when the control power The EAXA board rotary switch setting (0) of the
turned ON. corresponding node number (SV#1)
At this time, the DX100
may judge it as signal
input such as external
hold wrong. However, it is
caused by the
communication error with
servo baord #1.
Therefore, execute the
following measures first
of all.

insertion of the following cables and connectors.
CN509 cable of EAXA board
The cable of EAXA board connector CN515/516
The cable of YIF board connector CN113
EAXA board (1)Turn the power OFF then back ON.

failure (2)If the alarm occurs again, replace the EAXA board.


Number Code

The cable of EAXA board CN509







Number Code








Number Code

from the servo board #7. Control group settings in maintenance mode
The EAXA board rotary switch setting (6) of the
corresponding node number (SV#7)





0021 COMMUNICATION 50 The communications Setting error (1)Check the following settings.
ERROR(SERVO) CPU for the servo board Control group settings in maintenance mode
#1 detected an error The EAXA board rotary switch setting (0) of the
when the control power corresponding node number (SV#1)
turned ON.

Number Code


51 The communications Setting error (1)Check the following settings.

CPU for the servo board Control group settings in maintenance mode
turned ON.



turned ON.


Number Code


turned ON.



turned ON.



Number Code

turned ON.



turned ON.



turned ON.

Number Code


0030 ROM ERROR 1 The YCP01 system Software (1)Turn the power OFF then back ON.
program is damaged. operation error (2)If the alarm occurs again, save the CMOS.BIN in
occurred maintenance mode, and then contact your Yaskawa
representative about occurrence status (operating
procedure).
10 The system program of Software (1)Turn the power OFF then back ON.
optional board #1 is operation error (2)If the alarm occurs again, save the CMOS.BIN in
damaged. occurred maintenance mode, and then contact your Yaskawa
procedure).

YCP02 board
optional board #2 is operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

YCP02 board
servo board #1 is operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).


Number Code
procedure).

procedure).

procedure).

procedure).

procedure).

procedure).


Number Code
procedure).

0060 COMMUNICATION 0 The IO module board Software (1)Turn the power OFF then back ON.
ERROR(I/O connected with 0th serial operation error (2)If the alarm occurs again, save the CMOS.BIN in
MODULE) bus exists. occurred maintenance mode, and then contact your Yaskawa
procedure).
1 An error was detected in Setting error (1)Check the following settings.

communications with the The rotary switch setting which specifies slot numbers of
I/O module board each I/O module
connected with 1st serial I/O module settings in maintenance mode
bus when the control
power turned ON.

The MII communications cable which I/O module of the
corresponding node number
(In case of MII communications last station) Terminator
24V power of the corresponding I/O module
Board failure(I/O (1)Turn the power OFF then back ON.

module) (2)If the alarm occurs again, replace the following board.

connected with 2nd serial I/O module settings in maintenance mode
power turned ON.

Number Code



connected with 3rd serial I/O module settings in maintenance mode
power turned ON.



connected with 4th serial I/O module settings in maintenance mode
power turned ON.

Number Code



power turned ON.



power turned ON.

Number Code



power turned ON.



power turned ON.

Number Code



power turned ON.



connected with 10th I/O module settings in maintenance mode
serial bus when the
control power turned ON.

Number Code



power turned ON.



serial bus when the

Number Code



serial bus when the



YIU unit when the control each I/O module
power was turned ON. I/O module settings in maintenance mode
At this time, the DX100
may judge it as signal
input such as external
hold wrong. However, it is
caused by the
communication error with
YIU .Therefore, execute
the following measures
first of all.

Number Code

MII communications cable (CN114) of the YIF board
MII communications cable (CN300) of the YIU unit
24V power of the YIU unit
YIU unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following unit.
YIU unit

serial bus when the



communications with the PCI slot number in which each PCI board is mounted
I/O module board I/O module settings in maintenance mode
connected with 1st PCI
connector when the

Number Code

The PCI connector of the corresponding I/O module

The corresponding I/O module (PCI board)

connected with 2nd PCI
when the control power
turned ON.



connected with 3rd PCI
turned ON.


Number Code


connected with 4th PCI
turned ON.


0100 COMMUNICATION 1 The error was detected Setting error (1)Check the following settings.
ERROR(EAXA#1) during the check of the Control group settings in maintenance mode
serial communication The EAXA board rotary switch setting (0) of the
watchdog data. corresponding node number (SV#1)
Counter value received
from EAXA board is
invalid.



Number Code
2 The error was detected Setting error (1)Check the following settings.
during the check of the Control group settings in maintenance mode
number of the serial The EAXA board rotary switch setting (0) of the
communications. corresponding node number (SV#1)
from EAXA board is off by
one cycle.


from EAXA board is
invalid.



Number Code
one cycle.


from EAXA board is
invalid.


one cycle.

Number Code


from EAXA board is
invalid.


one cycle.


Number Code

from EAXA board is
invalid.


one cycle.



Number Code
from EAXA board is
invalid.


one cycle.



Number Code
from EAXA board is
invalid.


one cycle.


from EAXA board is
invalid.

Number Code


one cycle.


0200 MEMORY 0 The RC parameter is Data error (1)Turn the power OFF then back ON.
ERROR(PARAMETE damaged. (2)If the alarm occurs again, initialize the appropriate data
R FILE) in maintenance mode, and then load the data saved in the
external memory device.

Number Code
1 The RO parameter is Data error (1)Turn the power OFF then back ON.
damaged. (2)If the alarm occurs again, initialize the appropriate data
in maintenance mode, and then load the data saved in the
2 The SV parameter is Data error (1)Turn the power OFF then back ON.
3 The SVM parameter is Data error (1)Turn the power OFF then back ON.
4 The SC parameter is Data error (1)Turn the power OFF then back ON.
5 The SD parameter is Data error (1)Turn the power OFF then back ON.

Number Code
6 The CIO parameter is Data error (1)Turn the power OFF then back ON.
7 The FD parameter is Data error (1)Turn the power OFF then back ON.
8 The AP parameter is Data error (1)Turn the power OFF then back ON.
9 The RS parameter is Data error (1)Turn the power OFF then back ON.

Number Code
10 The SE parameter is Data error (1)Turn the power OFF then back ON.
11 The SVC parameter is Data error (1)Turn the power OFF then back ON.
12 The AMC parameter is Data error (1)Turn the power OFF then back ON.
13 The SVP parameter is Data error (1)Turn the power OFF then back ON.
14 The MF parameter is Data error (1)Turn the power OFF then back ON.

Number Code
15 The SVS parameter is Data error (1)Turn the power OFF then back ON.
0210 MEMORY The system configuration YCP01 board (1)Turn the power OFF then back ON.
ERROR(SYSTEM information data are failure (2)If the alarm occurs again, replace the YCP01 board.
CONFIG-DATA) damaged. Save the CMOS.BIN before replace the board to be safe.
board.
0220 MEMORY 0 The management data of Data error (1)Turn the power OFF then back ON.
ERROR(JOB MNG job files are damaged. (2)If the alarm occurs again, initialize the job file in
DATA) maintenance mode, and then load the data (job, variable
data, Robot calibration data) saved in the external
memory device.

board.
1 The job files are Data error (1)Turn the power OFF then back ON.
damaged. (2)If the alarm occurs again, initialize the job file in
maintenance mode, and then load the data (job, variable
memory device.

Number Code

board.
2 The management data of Data error (1)Turn the power OFF then back ON.
position data files are (2)If the alarm occurs again, initialize the job file in
damaged. maintenance mode, and then load the data (job, variable
memory device.

board.
3 Memory and pla back file Data error (1)Turn the power OFF then back ON.
is damaged. (2)If the alarm occurs again, initialize the appropriate data

board.
0230 MEMORY ERROR The CIO ladder file is Data error (1)Turn the power OFF then back ON.
(LADDER PRG damaged. (2)If the alarm occurs again, initialize the appropriate data
FILE) in maintenance mode, and then load the data saved in the

Number Code

board.
0240 MEMORY 0 The DeviceNet allocation Setting error (1)Check the following settings.
ERROR(DEVICENE file 1 is damaged. [XFB01 board]
T ALLOC FL) The settings of the objective DeviceNet allocation file
The I/O module settings of the objective DeviceNet
board in maintenance mode
The DeviceNet allocation of the I/O module in
maintenance mode

board.
1 The DeviceNet allocation Setting error (1)Check the following settings.

file 2 is damaged. [XFB01 board]
The settings of the objective DeviceNet allocation file
The I/O module settings of the objective DeviceNet
maintenance mode

board.

Number Code
0270 MEMORY The system software Software (1)Turn the power OFF then back ON.
ERROR(CF version is inconsistent operation error (2)If the alarm occurs again, save the CMOS.BIN in
BACKUP FILE) with the version when the occurred maintenance mode, and then contact your Yaskawa
internal storage data is representative about occurrence status (operating
set or the CompactFlash procedure).
on the YCP01 board is
damaged.
0290 MEMORY The network setting file is Data error (1)Turn the power OFF then back ON.
ERROR(NETWORK damaged. (2)If the alarm occurs again, initialize the appropriate data
SETUP) in maintenance mode, and then set the network again.
0300 VERIFY 2 CIO parameter error. Setting error (1)Check the following settings.
ERROR(SYSTEM I/O module settings in maintenance mode
CONFIG-DATA)

board.
4 Axis-related parameter Setting error (1)Check the following settings.

error. Control group settings in maintenance mode

board.
5 Sensor-use parameter Setting error (1)Check the following settings.

error. The optional board setting in maintenance mode

Number Code

board.
7 The set optional functions Setting error (1)Check the following settings.
are different from those of The optional board setting in maintenance mode
the mounted optional
board.

board.
8 IO type error Setting error (1)Check the following settings.

(combination impossible I/O module settings in maintenance mode
to coexist).

board.
0310 VERIFY The CMOS memory YCP01 board (1)Turn the power OFF then back ON.
ERROR(CMOS capacity is different from failure (2)If the alarm occurs again, replace the YCP01 board.
MEMORY SIZE) its initial setting. Save the CMOS.BIN before replace the board to be safe.
board.

Number Code
0320 VERIFY ERROR(I/O 1 The I/O module Setting error (1)Check the following settings.
MODULE) connected to the serial The rotary switch setting which specifies slot numbers of
bus #1 is different from each I/O module
the function of the set I/O I/O module settings in maintenance mode
module.


2 The I/O module Setting error (1)Check the following settings.

connected to the serial The rotary switch setting which specifies slot numbers of
module.



module.

Number Code



module.



module.

Number Code



module.



module.

Number Code



module.



module.

Number Code



module.



module.

Number Code



module.



module.

Number Code



module.

MII communications cable (CN114) of the YIF board
MII communications cable (CN300) of the YIU unit
24V power of the YIU unit
YIU unit failure (1)Turn the power OFF then back ON.
YIU unit

module.

Number Code



connected to the 1st PCI PCI slot number in which each PCI board is mounted
bus is different from the I/O module settings in maintenance mode
function of the set I/O
module.



connected to the 2nd PCI PCI slot number in which each PCI board is mounted
module.


Number Code


connected to the 3rd PCI PCI slot number in which each PCI board is mounted
module.



connected to the 4th PCI PCI slot number in which each PCI board is mounted
module.



Number Code
0330 VERIFY YCP01 board (1)Turn the power OFF then back ON.
ERROR(APPLICATI failure (2)If the alarm occurs again, replace the YCP01 board.
ON) Save the CMOS.BIN before replace the board to be safe.
board.
0350 VERIFY 0 The station No. specified Setting error (1)Check the following settings.
ERROR(DEVICENE by the DeviceNet [XFB01 board]
T ALLOC FL) allocation file1 is incorrect The settings of the objective DeviceNet allocation file
(the station No. is out of The I/O module settings of the objective DeviceNet
the allowable range, or board in maintenance mode
the specified station The DeviceNet allocation of the I/O module in
board is not the maintenance mode
DeviceNet master).

board.
1 The MAC_ID specified by Setting error (1)Check the following settings.

the DeviceNet allocation [XFB01 board]
file1 is not consistent with The settings of the objective DeviceNet allocation file
the MAC_ID of the The I/O module settings of the objective DeviceNet
specified station board. board in maintenance mode
maintenance mode

board.

Number Code
2 Inconsistency was Setting error (1)Check the following settings.

detected in the scan list of [XFB01 board]
the DeviceNet allocation The settings of the objective DeviceNet allocation file
file1. The I/O module settings of the objective DeviceNet
maintenance mode

board.
10 The station No. specified Setting error (1)Check the following settings.
by the DeviceNet [XFB01 board]
allocation file2 is incorrect The settings of the objective DeviceNet allocation file
(the station No. is out of The I/O module settings of the objective DeviceNet
the allowable range, or board in maintenance mode
the specified station The DeviceNet allocation of the I/O module in
board is not the maintenance mode
DeviceNet master).

board.
11 The MAC_ID specified by Setting error (1)Check the following settings.

the DeviceNet allocation [XFB01 board]
file2 is not consistent with The settings of the objective DeviceNet allocation file
the MAC_ID of the The I/O module settings of the objective DeviceNet
specified station board. board in maintenance mode
maintenance mode

board.

Number Code
12 Inconsistency was Setting error (1)Check the following settings.

detected in the scan list of [XFB01 board]
the DeviceNet allocation The settings of the objective DeviceNet allocation file
file2. The I/O module settings of the objective DeviceNet
maintenance mode

board.
0370 VERIFY The designation in the Setting error (1)Check the following settings.
ERROR(SPOT parameter is different The welding timer designation
WELDER I/F) from the connected
welding timer.

board.
0390 VERIFY Illegal instruction cycle is Setting error (1)Check the following settings.
ERROR(SEGMENT set. Instruction execution cycle
CLOCK)

board.

Number Code
0400 PARAMETER 50 An error occurred during Setting error (1)Check the following settings.
TRANSMISSION the parameter/file transfer Control group settings in maintenance mode
ERROR to the 1st servo board. The EAXA board rotary switch setting (0) of the


51 An error occurred during Setting error (1)Check the following settings.

the parameter/file transfer Control group settings in maintenance mode
to the 2nd servo board. The EAXA board rotary switch setting (1) of the



to the 3rd servo board. The EAXA board rotary switch setting (2) of the

Number Code



to the 4th servo board. The EAXA board rotary switch setting (3) of the





Number Code








Number Code



0410 MODE CHANGE 50 An error occurred during Setting error (1)Check the following settings.
ERROR startup sequence Control group settings in maintenance mode
processing with the servo The EAXA board rotary switch setting (0) of the
CPU of 1st servo board, corresponding node number (SV#1)
and the system did not
startup normally.



startup sequence Control group settings in maintenance mode
CPU of 2nd servo board, corresponding node number (SV#2)
startup normally.

Number Code



CPU of 3rd servo board, corresponding node number (SV#3)
startup normally.



CPU of 4th servo board, corresponding node number (SV#4)
startup normally.


Number Code


startup normally.


Speed is doubled
startup normally.



Number Code

startup normally.



startup normally.



Number Code
0420 DEVICENET ALLOC 1 The DeviceNet allocation Setting error (1)Check the following settings.
FL TRANSMIT ERR file1 could not be [XFB01 board]
transmitted to the The settings of the objective DeviceNet allocation file
specified station. The I/O module settings of the objective DeviceNet
maintenance mode

(XFB01B) (2)If the alarm occurs again, replace the following board.
XFB01B board

board.
2 The DeviceNet allocation Setting error (1)Check the following settings.

file2 could not be [XFB01 board]
transmitted to the The settings of the objective DeviceNet allocation file
specified station. The I/O module settings of the objective DeviceNet
maintenance mode

(XFB01B) (2)If the alarm occurs again, replace the following board.
XFB01B board

board.
0500 SEGMENT PROC Setting error (1)Check the following settings.

NOT READY Instruction execution cycle

Number Code

board.
0510 SOFTWARE 0 YCP01 board (1)Turn the power OFF then back ON.
VERSION failure (2)If the alarm occurs again, replace the YCP01 board.
UNMATCH Save the CMOS.BIN before replace the board to be safe.
board.
0520 AXIS LIMIT OVER 0 Setting error (1)Check the following settings.
Control group settings in maintenance mode

board.
0600 MEDAR STATUS MADER timer Refer to the instruction manual for the MEDAR function.
ERROR error
0601 MEDAR DIAGNOSIS MADER timer Refer to the instruction manual for the MEDAR function.
ERROR error
0602 MEDAR VERSION MADER timer Refer to the instruction manual for the MEDAR function.
ERROR error
0603 MEDAR REVISION MADER timer Refer to the instruction manual for the MEDAR function.
ERROR error
0604 MEDAR MODE MADER timer Refer to the instruction manual for the MEDAR function.
CHANGE ERROR error
0605 MEDAR SCHEDULE MADER timer Refer to the instruction manual for the MEDAR function.
TRANSMIT ERROR error
0606 MEDAR ERROR 1 MADER timer Refer to the instruction manual for the MEDAR function.
error

Number Code
0607 MEDAR ERROR 2 MADER timer Refer to the instruction manual for the MEDAR function.
error
0608 MEDAR WELDER MADER timer Refer to the instruction manual for the MEDAR function.
TYPE MISMATCH error
0609 MEDAR MADER timer Refer to the instruction manual for the MEDAR function.
PARAMETER error
ERROR
0610 MEDAR STEPPER MADER timer Refer to the instruction manual for the MEDAR function.
TRANSMIT ERROR error
0710 LADDER INITIALIZE Data error (1)Turn the power OFF then back ON.
ERROR (2)If the alarm occurs again, initialize the appropriate data

board.
0720 LADDER 1 An error was found in the Data error (1)Turn the power OFF then back ON.
PROGRAM ERROR relay No. specification. (2)If the alarm occurs again, initialize the appropriate data

board.
2 An error was found in the Data error (1)Turn the power OFF then back ON.
register No. specification. (2)If the alarm occurs again, initialize the appropriate data

board.

Number Code
3 An incorrect instruction Data error (1)Turn the power OFF then back ON.
was set. (2)If the alarm occurs again, initialize the appropriate data

board.
4 Output register is used Data error (1)Turn the power OFF then back ON.
redundantly. (2)If the alarm occurs again, initialize the appropriate data

board.
5 Output relay is used Data error (1)Turn the power OFF then back ON.
redundantly. (2)If the alarm occurs again, initialize the appropriate data

board.

Number Code
6 Unconnected relay exists. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate data

board.
7 The STR instructions are Data error (1)Turn the power OFF then back ON.
overused. (2)If the alarm occurs again, initialize the appropriate data

board.
8 The AND-STR Data error (1)Turn the power OFF then back ON.
instructions are overused. (2)If the alarm occurs again, initialize the appropriate data

board.

Number Code
9 A syntax error was found Data error (1)Turn the power OFF then back ON.
in the CNT instruction. (2)If the alarm occurs again, initialize the appropriate data

board.
10 The head of the block Data error (1)Turn the power OFF then back ON.
starts with an instruction (2)If the alarm occurs again, initialize the appropriate data
other than the STR in maintenance mode, and then load the data saved in the
instruction. external memory device.

board.
11 Excessive machine codes Data error (1)Turn the power OFF then back ON.

board.

Number Code
12 The last instruction is not Data error (1)Turn the power OFF then back ON.
the END instruction. (2)If the alarm occurs again, initialize the appropriate data

board.
PART instruction. (2)If the alarm occurs again, initialize the appropriate data

board.
GOUT instruction. (2)If the alarm occurs again, initialize the appropriate data

board.

Number Code
15 The No. of operand is Data error (1)Turn the power OFF then back ON.
incorrect. (2)If the alarm occurs again, initialize the appropriate data

board.
16 The constant value is Data error (1)Turn the power OFF then back ON.
incorrect. (2)If the alarm occurs again, initialize the appropriate data

board.
17 The step capacity Data error (1)Turn the power OFF then back ON.
exceeds the memory (2)If the alarm occurs again, initialize the appropriate data
capacity. in maintenance mode, and then load the data saved in the

board.

Number Code
18 The number of operation Data error (1)Turn the power OFF then back ON.
instructions exceed the (2)If the alarm occurs again, initialize the appropriate data
permissible value. in maintenance mode, and then load the data saved in the

board.
in the CNT instruction or (2)If the alarm occurs again, initialize the appropriate data
TMR instruction. in maintenance mode, and then load the data saved in the

board.
in the JMP-LABEL (2)If the alarm occurs again, initialize the appropriate data
instructions. in maintenance mode, and then load the data saved in the

board.

Number Code
21 The label of JMP Data error (1)Turn the power OFF then back ON.
destination does not (2)If the alarm occurs again, initialize the appropriate data
exist. in maintenance mode, and then load the data saved in the

board.
0800 FILE BACKUP The management area YCP01 board (1)Turn the power OFF then back ON.
ERROR (YCP01 CF) (FAT) of Compact Flash failure (2)If the alarm occurs again, replace the YCP01 board.
in YCP01 board is Save the CMOS.BIN before replace the board to be safe.
damaged. Replace the YCP01 board, and then remove the CF from
board.
0801 FILE LOAD ERROR YCP01 board (1)Turn the power OFF then back ON.
(YCP01 CF) failure (2)If the alarm occurs again, replace the YCP01 board.
board.
0802 FILE I/O ERROR YCP01 board (1)Turn the power OFF then back ON.
(YCP01 CF) failure (2)If the alarm occurs again, replace the YCP01 board.
board.

Number Code
0803 FILE ERROR An error occurred during YCP01 board (1)Turn the power OFF then back ON.
the parameter of failure (2)If the alarm occurs again, replace the YCP01 board.
Manipulator Model Save the CMOS.BIN before replace the board to be safe.
(mecha.rom) loading. Replace the YCP01 board, and then remove the CF from
board.
0810 TOYOPUC ALLOC 1 An error was found in the Setting error (1)Check the following settings.
DEF ERROR input/output direction data Allocation configuration for the TOYOPUC
of allocation
configuration.

The PCI connector of the TOYOPUC board
3 In the output side setting Setting error (1)Check the following settings.
of allocation configuration Allocation configuration for the TOYOPUC
data, the specified
R-register start No. for the
TOYOPUC exceeds the
R-register limit.

data, the set number to
use the input side R-
register of the TOYOPUC
exceeds the R-register
limit.

use the M-register of
concurrent I/O exceeds
the M-register limit.

Number Code

8 An error was found in the Setting error (1)Check the following settings.
type set for output Allocation configuration for the TOYOPUC
direction of allocation
configuration data.

type set for input direction Allocation configuration for the TOYOPUC
of allocation configuration
data.

type specified for system Allocation configuration for the TOYOPUC
data of allocation
configuration data.

specified number of Allocation configuration for the TOYOPUC
registers which are used
by the system data
"CURR.POS. (PULSE)"
of allocation
configuration.

by the system data
"CURR.POS. (XYZ)" of
allocation configuration.

by the system data
"WELDING INFO." of
allocation configuration.

Number Code

by the system data "TASK
INFO." of allocation
configuration.

by the system data
"EXECUTE PROGRAM
INFO." of allocation
configuration.

by the system data "INST.
MESSAGE" of allocation
configuration.

registers for "Alarm/Error/
Message" in the system
data of Allocation setting
information.

30 In the input side setting of Setting error (1)Check the following settings.
allocation configuration Allocation configuration for the TOYOPUC
data, the specified R-
register start No. for the
TOYOPUC exceeds the
R-register limit.


Number Code
use the input side R-
register of the TOYOPUC
exceeds the R-register
limit.

use the M-register of
concurrent I/O exceeds
the M-register limit.

by the system data
"standard time setting
data" of allocation
configuration.

data, some of the
TOYOPUCs R-registers
are specified redundantly.

data, some of the M-
registers of concurrent I/
O are specified
redundantly.

data, some of the
TOYOPUCs R-registers
are specified redundantly.

Number Code

data, some of the M-
registers of concurrent I/
O are specified
redundantly.

0900 WATCHDOG TIMER A Watchdog timeout was YCP01 board (1)Turn the power OFF then back ON.
ERROR(YIF detected in the YIF board. failure (2)If the alarm occurs again, replace the YCP01 board.
BOARD) Save the CMOS.BIN before replace the board to be safe.
board.
0901 WATCHDOG TIMER A Watchdog timeout was Setting error (1)Check the following settings.
ERROR(YCP02#1) detected in the CP02 #1 Optional board in maintenance mode
board.

YCP02 board
board.

YCP02 board
board.

YCP02 board
board.

Number Code

YCP02 board
board.

YCP02 board
board.

YCP02 board
board.

YCP02 board
board.

YCP02 board
0910 CPU 1 An error was detected in YCP01 board (1)Turn the power OFF then back ON.
ERROR(YCP01) the CPU. failure (2)If the alarm occurs again, replace the YCP01 board.
board.
0911 CPU An error was detected in Setting error (1)Check the following settings.
ERROR(YCP02#1) the CPU. Optional board in maintenance mode

Number Code

YCP02 board

YCP02 board

YCP02 board

YCP02 board

YCP02 board

YCP02 board

YCP02 board

YCP02 board

Number Code
0920 BUS 1 The JL chip does not YCP01 board (1)Turn the power OFF then back ON.
ERROR(YCP01) operate normally. failure (2)If the alarm occurs again, replace the YCP01 board.
board.
0950 CPU An error was detected in Connection (1)Turn the power OFF then back ON.
ERROR(EAXA#1) the CPU of servo board failure (2)If the alarm occurs again, check the connection and
#1. insertion of the following cables and connectors.



Number Code




Number Code




Number Code
1000 ROM Software (1)Reset the alarm.

ERROR(YCP01) operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
1001 ROM 10 A checksum error EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(EAXA01) occurred in the board or failure OFF then back ON.)
the EEPROM.(***: axis (2)If the alarm occurs again, replace the EAXA board.
No.) Save the CMOS.BIN before replace the board to be safe.
20 The SRDY signal did not EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
turn ON after the WRITE failure OFF then back ON.)
ENABLE command was (2)If the alarm occurs again, replace the EAXA board.
written. (EEPROM Save the CMOS.BIN before replace the board to be safe.
WRITE ENABLE error)
turn ON after the WRITE failure OFF then back ON.)
PROTECT command was (2)If the alarm occurs again, replace the EAXA board.
written. (EEPROM Save the CMOS.BIN before replace the board to be safe.
WRITE PROTECT error)
turn ON after the ERASE failure OFF then back ON.)
command was written. (2)If the alarm occurs again, replace the EAXA board.
(EEPROM ERASE error) Save the CMOS.BIN before replace the board to be safe.
turn ON after the CLEAR failure OFF then back ON.)
command was written. (2)If the alarm occurs again, replace the EAXA board.
(EEPROM CLEAR error) Save the CMOS.BIN before replace the board to be safe.
turn ON after data were failure OFF then back ON.)
written. (EEPROM writing (2)If the alarm occurs again, replace the EAXA board.
error) Save the CMOS.BIN before replace the board to be safe.
turn ON after data were failure OFF then back ON.)
read. (EEPROM reading (2)If the alarm occurs again, replace the EAXA board.
error) Save the CMOS.BIN before replace the board to be safe.
26 The written data were EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
rejected at verification. failure OFF then back ON.)
(EEPROM verify error) (2)If the alarm occurs again, replace the EAXA board.

Number Code
1003 ROM
ERROR(YCP02)
1030 MEMORY 0 RCD, RCxG parameter Data error (1)Turn the power OFF then back ON.
ERROR(PARAMETE error (2)If the alarm occurs again, initialize the appropriate data
R FILE) in maintenance mode, and then load the data saved in the

board.
1 ROxG parameter error Data error (1)Turn the power OFF then back ON.

board.
2 SVD, SVxG parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the appropriate data

board.
3 SVMxG parameter error Data error (1)Turn the power OFF then back ON.

board.
4 S1CxG, S2C, S3C, S4C Data error (1)Turn the power OFF then back ON.
parameter error (2)If the alarm occurs again, initialize the appropriate data

Number Code

board.
5 S1D, S2D, S3D, S4D Data error (1)Turn the power OFF then back ON.
parameter error (2)If the alarm occurs again, initialize the appropriate data

board.
6 CIO parameter error Data error (1)Turn the power OFF then back ON.

board.
7 FD parameter error Data error (1)Turn the power OFF then back ON.

board.
8 A1P parameter error Data error (1)Turn the power OFF then back ON.

board.

Number Code
9 RS parameter error Data error (1)Turn the power OFF then back ON.

board.
10 S1E parameter error Data error (1)Turn the power OFF then back ON.

board.
11 SVxB parameter error Data error (1)Turn the power OFF then back ON.

board.
12 AMCxG parameter error Data error (1)Turn the power OFF then back ON.

board.
13 SVPxG parameter error Data error (1)Turn the power OFF then back ON.

Number Code

board.
14 MFxG parameter error Data error (1)Turn the power OFF then back ON.

board.
15 SVxS parameter error Data error (1)Turn the power OFF then back ON.

board.
1031 MEMORY 0 "GET FILE" instruction, Data error (1)Turn the power OFF then back ON.
ERROR(MOTION1) "SET FILE" instruction (2)If the alarm occurs again, initialize the appropriate data
execution target file in maintenance mode, and then load the data saved in the
1 Home position calibration Data error (1)Turn the power OFF then back ON.
file (2)If the alarm occurs again, initialize the appropriate data
2 Tool file Data error (1)Turn the power OFF then back ON.
3 User coordinates file Data error (1)Turn the power OFF then back ON.
4 Robot calibration file Data error (1)Turn the power OFF then back ON.

Number Code
5 Tool calibration file Data error (1)Turn the power OFF then back ON.
6 Weaving amplitude Data error (1)Turn the power OFF then back ON.
condition file (2)If the alarm occurs again, initialize the appropriate data
7 Home position correction Data error (1)Turn the power OFF then back ON.
data file (2)If the alarm occurs again, initialize the appropriate data
8 Conveyor calibration file Data error (1)Turn the power OFF then back ON.
9 Arm and tool interference Data error (1)Turn the power OFF then back ON.
prevention file (2)If the alarm occurs again, initialize the appropriate data
20 Weaving file Data error (1)Turn the power OFF then back ON.
21 Power Source condition Data error (1)Turn the power OFF then back ON.
data file (2)If the alarm occurs again, initialize the appropriate data
22 Welding condition Data error (1)Turn the power OFF then back ON.
auxiliary file (2)If the alarm occurs again, initialize the appropriate data
23 Arc start condition file Data error (1)Turn the power OFF then back ON.
24 Arc end condition file Data error (1)Turn the power OFF then back ON.

Number Code
25 COMARC condition file Data error (1)Turn the power OFF then back ON.
26 COMARC data file Data error (1)Turn the power OFF then back ON.
27 Path correction condition Data error (1)Turn the power OFF then back ON.
28 Painting characteristics Data error (1)Turn the power OFF then back ON.
29 Painting condition file Data error (1)Turn the power OFF then back ON.
30 Multi-layer index file Data error (1)Turn the power OFF then back ON.
31 Multi-layer condition file Data error (1)Turn the power OFF then back ON.
32 Sensor monitoring Data error (1)Turn the power OFF then back ON.
34 Conveyor condition file Data error (1)Turn the power OFF then back ON.
35 Press characteristics file Data error (1)Turn the power OFF then back ON.

Number Code
36 Servo float condition file Data error (1)Turn the power OFF then back ON.
37 Spot welding Power Data error (1)Turn the power OFF then back ON.
Source condition data file (2)If the alarm occurs again, initialize the appropriate data
38 Air-gun condition file Data error (1)Turn the power OFF then back ON.
39 Motor-gun condition file Data error (1)Turn the power OFF then back ON.
40 Gun pressure file Data error (1)Turn the power OFF then back ON.
41 Gun pressure file Data error (1)Turn the power OFF then back ON.
42 Anticipation OT# output Data error (1)Turn the power OFF then back ON.
43 Anticipation OG# output Data error (1)Turn the power OFF then back ON.
44 Handling condition file Data error (1)Turn the power OFF then back ON.
45 Form cut file Data error (1)Turn the power OFF then back ON.

Number Code
46 Spot (user) I/O allocation Data error (1)Turn the power OFF then back ON.
47 Linear servo float Data error (1)Turn the power OFF then back ON.
48 Macro definition file Data error (1)Turn the power OFF then back ON.
49 Seal amount correction Data error (1)Turn the power OFF then back ON.
condition file (spray) (2)If the alarm occurs again, initialize the appropriate data
50 Seal amount correction Data error (1)Turn the power OFF then back ON.
condition file (undercoat) (2)If the alarm occurs again, initialize the appropriate data
51 Arc monitor file Data error (1)Turn the power OFF then back ON.
53 Job registration table Data error (1)Turn the power OFF then back ON.
54 Painting device condition Data error (1)Turn the power OFF then back ON.
55 Painting system file Data error (1)Turn the power OFF then back ON.
56 Painting condition file Data error (1)Turn the power OFF then back ON.

Number Code
57 Paint characteristics file Data error (1)Turn the power OFF then back ON.
58 EVB gun file Data error (1)Turn the power OFF then back ON.
59 Paint filling file Data error (1)Turn the power OFF then back ON.
60 Welding pulse condition Data error (1)Turn the power OFF then back ON.
61 Clearance file Data error (1)Turn the power OFF then back ON.
62 Linear scale condition file Data error (1)Turn the power OFF then back ON.
63 Gauging sensor condition Data error (1)Turn the power OFF then back ON.
64 Conveyor condition Data error (1)Turn the power OFF then back ON.
auxiliary file (2)If the alarm occurs again, initialize the appropriate data
65 Laser welding start Data error (1)Turn the power OFF then back ON.
66 Laser welding end Data error (1)Turn the power OFF then back ON.

Number Code
67 Palletizing condition file Data error (1)Turn the power OFF then back ON.
68 Air-gun pressure file Data error (1)Turn the power OFF then back ON.
69 Mastering registration Data error (1)Turn the power OFF then back ON.
position (2)If the alarm occurs again, initialize the appropriate data
1050 SET-UP PROCESS 1 Motion instruction setup YCP01 board (1)Turn the power OFF then back ON.
ERROR(SYSCON) incomplete. failure (2)If the alarm occurs again, replace the YCP01 board.
board.
Software (1)Turn the power OFF then back ON.

operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
2 Online error YCP01 board (1)Turn the power OFF then back ON.
board.

procedure).
3 SPOT management file YCP01 board (1)Turn the power OFF then back ON.
setup incomplete. failure (2)If the alarm occurs again, replace the YCP01 board.
board.

procedure).
1051 SET-UP PROCESS 1 Unable to properly EAXA board (1)Turn the power OFF then back ON.
ERROR(MOTION) activate the servo control failure (2)If the alarm occurs again, replace the EAXA board.

Number Code

procedure).
2 The position data of when EAXA board (1)Turn the power OFF then back ON.
the power supply was failure (2)If the alarm occurs again, replace the EAXA board.
turned OFF cannot be Save the CMOS.BIN before replace the board to be safe.
transmitted to the servo
control section

procedure).
3 The servo control section EAXA board (1)Turn the power OFF then back ON.
cannot receive the failure (2)If the alarm occurs again, replace the EAXA board.
position data of when the Save the CMOS.BIN before replace the board to be safe.
power supply was turned
OFF

procedure).
5 Unable to send a request EAXA board (1)Turn the power OFF then back ON.
to turn ON the PG power failure (2)If the alarm occurs again, replace the EAXA board.
supply for the mounted Save the CMOS.BIN before replace the board to be safe.
(PICK) axis

procedure).
6 Unable to turn ON the PG EAXA board (1)Turn the power OFF then back ON.
power supply for the failure (2)If the alarm occurs again, replace the EAXA board.
mounted (PICK) axis Save the CMOS.BIN before replace the board to be safe.

procedure).
7 Unable to send a request EAXA board (1)Turn the power OFF then back ON.
to prepare a feedback failure (2)If the alarm occurs again, replace the EAXA board.
pulse Save the CMOS.BIN before replace the board to be safe.

Number Code

procedure).
8 Unable to prepare a EAXA board (1)Turn the power OFF then back ON.
feedback pulse failure (2)If the alarm occurs again, replace the EAXA board.

procedure).
9 Unable to send a request YCP01 board (1)Turn the power OFF then back ON.
to initialize the arithmetic failure (2)If the alarm occurs again, replace the YCP01 board.
section (ARITH) Save the CMOS.BIN before replace the board to be safe.
board.

procedure).
10 Unable to initialize ARITH YCP01 board (1)Turn the power OFF then back ON.
board.

procedure).
11 Unable to send a request YCP01 board (1)Turn the power OFF then back ON.
to prepare the current failure (2)If the alarm occurs again, replace the YCP01 board.
position Save the CMOS.BIN before replace the board to be safe.
board.

procedure).
12 Unable to prepare the YCP01 board (1)Turn the power OFF then back ON.
current position failure (2)If the alarm occurs again, replace the YCP01 board.
board.

Number Code

procedure).
1053 SYSTEM Sub Code Software (1)Turn the power OFF then back ON.
ERROR(EVENT) 1 to 8: Signifies the operation error (2)If the alarm occurs again, save the CMOS.BIN in
internal software error at occurred maintenance mode, and then contact your Yaskawa
event process. representative about occurrence status (operating
procedure).
ERROR(MAN- 1 to 6: Internal control operation error (2)If the alarm occurs again, save the CMOS.BIN in
MACHINE MECHA) error in software occurred maintenance mode, and then contact your Yaskawa
procedure).
ERROR(MAN- 1 to 526: Internal control operation error (2)If the alarm occurs again, save the CMOS.BIN in
MACHINE APPLI) error in software occurred maintenance mode, and then contact your Yaskawa
procedure).
1103 SYSTEM Software (1)Turn the power OFF then back ON.
ERROR(EVENT) operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
1104 SYSTEM Sub Code Connection (1)Turn the power OFF then back ON.
ERROR(CIO) 1000_0000: I/O module failure (2)If the alarm occurs again, check the connection and
setting error inserting state of the following cables and connectors.
CN300 communications connector of YIU unit
CN304 power supply connector
Cable of the YIU unit and the expanded I/O board
Setting error (1)Turn the power OFF then back ON.

(2)If the error occurs again, set the I/O module again in
maintenance mode.
(3)If the error occurs again though the previous measures
were executed, save the CMOS.BIN in maintenance
mode, and then contact your Yaskawa representative
about occurrence status (operating procedure).

board.
1105 SYSTEM 0 No processing Software (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERVO) corresponds to the operation error OFF then back ON.)
command code sent from occurred (2)If the alarm occurs again, save the CMOS.BIN in
MOTION section. maintenance mode, and then contact your Yaskawa
procedure).

Number Code
EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
failure OFF then back ON.)
(2)If the alarm occurs again, replace the EAXA board.

board.
YIF board failure (1)Reset the alarm.(In case of major alarm, turn the power
OFF then back ON.)
Replace the YIF01 board, and then load the CMOS.BIN.
15 An error occurred in the Software (1)Reset the alarm.(In case of major alarm, turn the power
encoder power supply operation error OFF then back ON.)
control process. occurred (2)If the alarm occurs again, save the CMOS.BIN in
maintenance mode, and then contact your Yaskawa
procedure).
21 A task request was sent Software (1)Reset the alarm.(In case of major alarm, turn the power
to an axis in the alarm operation error OFF then back ON.)
status. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
23 A task request was sent Software (1)Reset the alarm.(In case of major alarm, turn the power
to the general operation error OFF then back ON.)
SERVOPACKs. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

Number Code
30 The linear servo float Software (1)Reset the alarm.(In case of major alarm, turn the power
does not support the operation error OFF then back ON.)
manipulator type occurred (2)If the alarm occurs again, save the CMOS.BIN in
specified in the RC maintenance mode, and then contact your Yaskawa
parameter at calculation representative about occurrence status (operating
for servo-float-related procedure).
parameters.
37 The manipulator (B-axis) Setting error (1)Check the following settings.

passed the singular point Correct the job so that the manipulator (B-axis) does not
while the linear servo float pass the singular point while the linear servo float is ON.
was ON.
47 The alarm number is Software (1)Reset the alarm.(In case of major alarm, turn the power
illegal. operation error OFF then back ON.)
occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
52 An error occurred when Software (1)Reset the alarm.(In case of major alarm, turn the power
gun control command is operation error OFF then back ON.)
executed. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
60 The axis endless function Setting error (1)Check the following settings.
is set enabled for motor Disable the corresponding axis endless function.
guns.
100 The sequence was Software (1)Reset the alarm.(In case of major alarm, turn the power
untimely executed in the operation error OFF then back ON.)
general-purpose 10ms occurred (2)If the alarm occurs again, save the CMOS.BIN in
process although it was maintenance mode, and then contact your Yaskawa
not the execution timing. representative about occurrence status (operating
procedure).
segment_G process occurred (2)If the alarm occurs again, save the CMOS.BIN in
although it was not the maintenance mode, and then contact your Yaskawa
execution timing. representative about occurrence status (operating
procedure).

Number Code
general-purpose 2ms occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
dynamics calculation occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
dynamics compensation occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
servo communications occurred (2)If the alarm occurs again, save the CMOS.BIN in
CERF sending process maintenance mode, and then contact your Yaskawa
although it was not the representative about occurrence status (operating
execution timing. procedure).
servo communications occurred (2)If the alarm occurs again, save the CMOS.BIN in
CERF receiving process maintenance mode, and then contact your Yaskawa
although it was not the representative about occurrence status (operating
execution timing. procedure).

Number Code
segment_R process occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
110 The universal three clock Software (1)Reset the alarm.(In case of major alarm, turn the power
process executing operation error OFF then back ON.)
sequence error process occurred (2)If the alarm occurs again, save the CMOS.BIN in
was executed according maintenance mode, and then contact your Yaskawa
to unexpected timing. representative about occurrence status (operating
procedure).
segment_OPT1 process occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
segment_OPT2 process occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

Number Code
120 A general-purpose 10ms Software (1)Reset the alarm.(In case of major alarm, turn the power
process did not complete operation error OFF then back ON.)
within the time set on the occurred (2)If the alarm occurs again, save the CMOS.BIN in
scheduling table. maintenance mode, and then contact your Yaskawa
procedure).
121 The segment_G process Software (1)Reset the alarm.(In case of major alarm, turn the power
did not complete within operation error OFF then back ON.)
the time set on the occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
123 The general-purpose 2ms Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
125 The dynamics calculation Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
126 The dynamics Software (1)Reset the alarm.(In case of major alarm, turn the power
compensation process operation error OFF then back ON.)
did not complete within occurred (2)If the alarm occurs again, save the CMOS.BIN in
the time set on the maintenance mode, and then contact your Yaskawa
scheduling table. representative about occurrence status (operating
procedure).

Number Code
127 The CERF transmission Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
128 The dynamics calculation Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
129 The CERF receiving Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
130 The segment_R process Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).

Number Code
131 The segment_E process Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
132 The segment_OPT1 Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
133 The segment_OPT3 Software (1)Reset the alarm.(In case of major alarm, turn the power
procedure).
151 The averaging time is not Software (1)Reset the alarm.(In case of major alarm, turn the power
an even number. (times) operation error OFF then back ON.)
procedure).
303 The difference between Software (1)Reset the alarm.(In case of major alarm, turn the power
the base torque and the operation error OFF then back ON.)
target torque exceeded occurred (2)If the alarm occurs again, save the CMOS.BIN in
the threshold in the jig maintenance mode, and then contact your Yaskawa
robot bending correction. representative about occurrence status (operating
procedure).
500 Inconsistency of FP EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
register. failure OFF then back ON.)

Number Code
Software (1)Reset the alarm.(In case of major alarm, turn the power
operation error OFF then back ON.)
procedure).
1000 The check item number of Software (1)Reset the alarm.(In case of major alarm, turn the power
SVD parameter is operation error OFF then back ON.)
unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
SV parameter is operation error OFF then back ON.)
procedure).
SVM parameter is operation error OFF then back ON.)
procedure).
SVP parameter is operation error OFF then back ON.)
procedure).
AMC parameter is operation error OFF then back ON.)
procedure).
MFG parameter is operation error OFF then back ON.)
procedure).
MFA parameter is operation error OFF then back ON.)
procedure).
SVC parameter is operation error OFF then back ON.)
procedure).

Number Code
2100 The motioning software is Software (1)Reset the alarm.(In case of major alarm, turn the power
not used with circuit operation error OFF then back ON.)
board as target. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
3000 The parameter number of Software (1)Reset the alarm.(In case of major alarm, turn the power
the universal operation error OFF then back ON.)
SERVOPACK is not valid. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
4000 Execution of motion Software (1)Reset the alarm.(In case of major alarm, turn the power
command did not operation error OFF then back ON.)
complete within a certain occurred (2)If the alarm occurs again, save the CMOS.BIN in
time period. maintenance mode, and then contact your Yaskawa
procedure).
7100 The override ratio is Software (1)Reset the alarm.(In case of major alarm, turn the power
invalid. operation error OFF then back ON.)
procedure).
7200 Interpolation cycle is Software (1)Reset the alarm.(In case of major alarm, turn the power
shorter than the set value. operation error OFF then back ON.)
procedure).
7400 Buffer-related area for Software (1)Reset the alarm.(In case of major alarm, turn the power
category 1 has not operation error OFF then back ON.)
completed initialization. occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
32807 An error occurred in the Connection (1)Reset the alarm.(In case of major alarm, turn the power
first encoder failure OFF then back ON.)
communications. (2)If the alarm occurs again, check the connection and
EAXA01-CN508
1109 SYSTEM
ERROR(CONVEYO
R)
1200 HIGH The temperature Turn the power OFF then back ON after cooling the
TEMPERATURE(IN rises in the controller.
CNTL BOX) controller

failure (2)If the alarm occurs again, check the connection of the
following cable.
CN159 power supply cable of the cooling fan in the YPS
unit

Number Code
YPS unit failure (1)Turn the power OFF then back ON.
YPS unit
1204 COMMUNICATION ****_ The communication error Connection Check the insertion and connection of the followings.
ERROR(I/O ****_ slot (Serial-bus- failure The MII communications cable which I/O module of the
MODULE) ****_ connected I/O module corresponding sub code
**** communication station (In case of MII communications last station) Terminator
No.) is displayed by the 24V power of the corresponding I/O module
bit.
0: correct / 1: incorrect
IO module Replace the I/O module of the corresponding station

failure number.
Power supply Replace the 24V power supply supplied to the I/O module
broken of the corresponding station number.
YIF01board Save the CMOS.BIN file.

broken Replace the YIF board, and then load the saved
CMOS.BIN file.
1209 EXTERNAL WDT Sub Code Circuit board Replace the YIF01 board, and initialize the DX100 system
BROKEN(YIF01) 0000_0001: Error broken configuration.
detected in PLD circuit 1
0000_0010: Error
0000_0011: Error
detected in PLD circuits 1
and 2
Circuit board Replace the YIF01 board, and initialize the DX100 system
failure configuration.
1213 SAFETY CIRCUIT Sub Code Setting error Check the one of PPESP, PBESP, EXESP, and SAF
WDT 0000_0001: Error signals.
ERROR(YIF01) detected in PLD circuit 1
0000_0010: Error
0000_0011: Error
and 2
1219 ANOTHER PLD EXT Sub Code Connection Check the insertion and connection of the followings.
WDT 0000_0001: Error failure The wiring of the unmatched signal
ERROR(YIF01) detected in PLD circuit 1 YIF board
0000_0010: Error
0000_0011: Error
and 2
1220 LAN 1 Incorrect setting of the IP Setting error (1)Check the following settings.
COMMUNICATION address which is used in IP address setting of network in maintenance mode
PARAMETER the Ethernet function.
ERROR
2 Incorrect setting of the Setting error (1)Check the following settings.

subnet mask which is Subnet mask of network in maintenance mode
used in the Ethernet
function.

Number Code

default gateway which is Default gateway of network in maintenance mode
function.

host address which is Server (host) of network in maintenance mode
function.

parameter which is used SNTP setting of network in maintenance mode
for the SNTP of the
Ethernet function.
31 Incorrect setting of the IP Setting error (1)Check the following settings.

address of the SNTP SNTP setting of network in maintenance mode
server which is used in
the Ethernet function of
the SNTP.

address of the SNTP SNTP setting of network in maintenance mode
the SNTP.

DHCP parameter which is SNTP setting of network in maintenance mode
function of the SNTP.

host name which is used Host name of network in maintenance mode
in the Ethernet function.

address of the DNS DNS setting of network in maintenance mode
the DNS.

DHCP parameter which is DNS setting of network in maintenance mode
function of the DNS.

DHCP parameter which is DNS setting of network in maintenance mode
function of the DNS.

domain which is used in Domain name of network in maintenance mode
the Ethernet function.
1221 ETHERNET INITIAL 1 An error occurred in the Software (1)Turn the power OFF then back ON.
PROCESS ERROR device initialization operation error (2)If the alarm occurs again, save the CMOS.BIN in
process of the Ethernet occurred maintenance mode, and then contact your Yaskawa
function. representative about occurrence status (operating
procedure).

board.
2 An error occurred in the Software (1)Turn the power OFF then back ON.
IP address setting operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

Number Code

board.
subnet mask setting operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
default gateway setting operation error (2)If the alarm occurs again, save the CMOS.BIN in
process of the Ehternet occurred maintenance mode, and then contact your Yaskawa
procedure).

board.
host name setting operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
MAC address getting operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.

Number Code
Web server task creating operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
FTP server task creating operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
FTP client task creating operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
semaphore generation operation error (2)If the alarm occurs again, save the CMOS.BIN in
process for access occurred maintenance mode, and then contact your Yaskawa
exclusion of the Ethernet representative about occurrence status (operating
function. procedure).

board.
Web server task operation error (2)If the alarm occurs again, save the CMOS.BIN in
management ID getting occurred maintenance mode, and then contact your Yaskawa
process of the Ehternet representative about occurrence status (operating

Number Code

board.
FTP server task operation error (2)If the alarm occurs again, save the CMOS.BIN in
management ID getting occurred maintenance mode, and then contact your Yaskawa
process of the Ehternet representative about occurrence status (operating

board.
DHCP acquisition item operation error (2)If the alarm occurs again, save the CMOS.BIN in
setting process of the occurred maintenance mode, and then contact your Yaskawa
Ethernet function. representative about occurrence status (operating
procedure).

board.
DHCP initialization operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
DHCP interface of the operation error (2)If the alarm occurs again, save the CMOS.BIN in
Ethernet function. occurred maintenance mode, and then contact your Yaskawa
procedure).

board.
62 The data acquisition Setting error (1)Check the following settings.

process from the server The DHCP server operation
did not complete within The network status
regulated time.

Number Code

board.
63 The data acquired from Setting error (1)Check the following settings.
the server were found The DHCP server operation
illegal in the DHCP of the The network status
Ethernet function.

board.
64 An error occurred in the Setting error (1)Check the following settings.

subnet mask acquisition The DHCP server operation
process in the DHCP of The network status

board.

DNS server address The DHCP server operation
acquisition process in the The network status
DHCP of the Ethernet
function.

board.

Ethernet function DNS The DHCP server operation
domain getting process in The network status
the DHCP of the Ethernet
function.

board.

SNTP server address The DHCP server operation
acquisition process in the The network status
DHCP of the Ethernet
function.

board.

Number Code

IP address acquisition The DHCP server operation
process in the DHCP of The network status

board.

DHCP interface structure The DHCP server operation
object mapping process The network status
of the Ethernet function.

board.

DNS resolver initialization The domain name
process of the Ethernet The DNS related settings
function. The DHCP server operation
The network status

board.

DNS resolver setting of The domain name
the Ethernet function. The DNS related settings
The DHCP server operation
The network status

board.
72 The parameter setting Setting error (1)Check the following settings.

error occurred in the DNS The domain name
resolver setting of the The DNS related settings
Ethernet function. The DHCP server operation
The network status

board.

Number Code
73 The mode error occurred Setting error (1)Check the following settings.
in the DNS resolver The domain name
setting of the Ethernet The DNS related settings
function. The DHCP server operation
The network status

board.
basic library initialization operation error (2)If the alarm occurs again, save the CMOS.BIN in
procedure).

board.
initialization process other operation error (2)If the alarm occurs again, save the CMOS.BIN in
than basic library of the occurred maintenance mode, and then contact your Yaskawa
Ethernet function. representative about occurrence status (operating
procedure).

board.
IP address acquisition operation error (2)If the alarm occurs again, save the CMOS.BIN in
process in the DHCP of occurred maintenance mode, and then contact your Yaskawa
the Ethernet function. representative about occurrence status (operating
procedure).

board.
start process of the operation error (2)If the alarm occurs again, save the CMOS.BIN in
Ethernet function Telnet occurred maintenance mode, and then contact your Yaskawa
(for onboard). representative about occurrence status (operating
procedure).

Number Code

board.
start process of the operation error (2)If the alarm occurs again, save the CMOS.BIN in
Ethernet function Telnet occurred maintenance mode, and then contact your Yaskawa
(for expand). representative about occurrence status (operating
procedure).

board.
1222 IP ADDRESS SET IP address could not be Setting error (1)Check the following settings.
FAIL(DHCP) obtained at DHCP. The DHCP server operation
The network status

board.
Connection (1)Reset the alarm.(In case of major alarm, turn the power
(2)If the alarm occurs again, check the connection and
[Robot axis]
Cable between encoders
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1300 SERVO CPU Connection (1)Reset the alarm.(In case of major alarm, turn the power
SYNCHRONIZING failure OFF then back ON.)
ERROR (2)If the alarm occurs again, check the connection and
EAXA01-CN515
YIF01-CN113

Number Code
1301 COMMUNICATION 0 Communication status Connection (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERVO) error failure OFF then back ON.)
EAXA01-CN515
YIF01-CN113
OFF then back ON.)
1 Watchdog timer error Connection (1)Reset the alarm.(In case of major alarm, turn the power
EAXA01-CN515
YIF01-CN113
OFF then back ON.)
2 JL0101 alarm Connection (1)Reset the alarm.(In case of major alarm, turn the power
EAXA01-CN515
YIF01-CN113

Number Code
OFF then back ON.)
3 Communication status Connection (1)Reset the alarm.(In case of major alarm, turn the power
error failure OFF then back ON.)
EAXA01-CN515
YIF01-CN113
OFF then back ON.)
4 Data consistency error Connection (1)Reset the alarm.(In case of major alarm, turn the power
EAXA01-CN515
YIF01-CN113
OFF then back ON.)
procedure).

Number Code
1302 COMMUNICATION 1 No interrupt from servo I/ Connection (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERVO I/O) O communications failure OFF then back ON.)
(JL098) occurred. (2)If the alarm occurs again, check the connection and
(Communication loop insertion of the following cables and connectors.
back) EAXA01-CN517
YSU01-CN202
2 The servo I/O Connection (1)Reset the alarm.(In case of major alarm, turn the power
communications (JL098) failure OFF then back ON.)
received status is (2)If the alarm occurs again, check the connection and
incorrect. (No interrupt) insertion of the following cables and connectors.
EAXA01-CN517
YSU01-CN202
buffer switch status is (2)If the alarm occurs again, check the connection and
incorrect. (Watchdog insertion of the following cables and connectors.
timer error) EAXA01-CN517
YSU01-CN202
receiving status is (2)If the alarm occurs again, check the connection and
incorrect. (Command insertion of the following cables and connectors.
timeout) EAXA01-CN517
YSU01-CN202

Number Code
0010 The communications loop Connection (1)Reset the alarm.(In case of major alarm, turn the power
back value of servo I/O failure OFF then back ON.)
communications (JL098) (2)If the alarm occurs again, check the connection and
is incorrect. insertion of the following cables and connectors.
(Communication loop AXA01-CN517
back) (First two digits SU01-CN202
show the station number
of the connected unit)
OFF then back ON.)
0011 The received address of Connection (1)Reset the alarm.(In case of major alarm, turn the power
JL098 is unmatched with failure OFF then back ON.)
the sent address. (First (2)If the alarm occurs again, check the connection and
two digits show the insertion of the following cables and connectors.
station number of the EAXA01-CN517
connected unit) YSU01-CN202
OFF then back ON.)
0012 The received buffer of Connection (1)Reset the alarm.(In case of major alarm, turn the power
JL098 is incorrect. (First failure OFF then back ON.)
two digits show the (2)If the alarm occurs again, check the connection and
station number of the insertion of the following cables and connectors.
connected unit) EAXA01-CN517
YSU01-CN202

Number Code
1303 ARITHMETIC The data [X____] Tool file setting (1)Check the following settings.
ERROR(SERVO) indicates the generation error Reexamine the tool file setting.
process. (Check the units of mass and center of gravity, positive/
10000: Observer control negative signs.)
20000: High-precision
path control
30000: Dynamics
40000: Disturbance
observer control
The data [_YYY_]
indicates the alarm
contents.
The data [____Z]
indicates the physical
axis number.
Motor load error (1)Check the followings.

Overload is applied to the manipulator. Correct the tools,
the work pieces, and the drive condition.
1304 EX-AXIS BOARD Setting error (1)Check the following settings.

NOT INSTALLED Check the parameter setting of external axis selection.
tanaka saEAXA01-CN517
YSU01-CN202
1306 AMPLIFIER TYPE Sub Code: Signifies the Setting error (1)Check the following settings.
MISMATCH axis in which the alarm Check the current capacity of the amplifier before/after
occurred replacement by the model described in board.
When the external axis is mounted, check if there is no
difference between the amplifier selected at configuration
and the amplifier that is actually mounted.
Reference parameter: after SVPxG232
EAXA01-CN517
YSU01-CN202
Module (1)Reset the alarm.(In case of major alarm, turn the power
failure(amplifier) OFF then back ON.)
(2)If the alarm occurs again, replace the amplifier.

Number Code
1307 ENCODER TYPE Sub Code: Signifies the Setting error (1)Check the following settings.
MISMATCH axis in which the alarm Check the motor type before and after the replacement.
occurred When the external axis is mounted, check if there is no
difference between the motor selected at configuration
and the motor that is actually mounted.
failure(encoder) OFF then back ON.)
(2)If the alarm occurs again, replace the encoder.
procedure).
1308 CONVERTER TYPE Sub Code: Signifies the Setting error (1)Check the following settings.
MISMATCH converter in which the Check the current capacity of the amplifier before/after
alarm occurred replacement by the model described in board.
When the external axis is mounted, check if there is no
difference between the converter selected at configuration
and the converter that is actually mounted.
Reference parameter: after SVCxB040
Module (1)Turn the power OFF then back ON.

failure(converter (2)If the alarm occurs again, check the connection and
) insertion of the following cables and connectors.
corresponding sub code
procedure).
1309 HARDWARE Module (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(CONVERT failure(converter OFF then back ON.)
ER) ) (2)If the alarm occurs again, replace the SERVOPACK.
1310 CHARGE Module (1)Reset the alarm.(In case of major alarm, turn the power

Number Code
Primary power Check if the primary power supply voltage does not drop
failure with a tester, etc..
1311 A/D DETECTION Module (1)Reset the alarm.(In case of major alarm, turn the power
1312 ID Sub Code: Signifies the Module (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(CONVERT converter in which the failure(converter OFF then back ON.)
ER) alarm occurred ) (2)If the alarm occurs again, replace the SERVOPACK.
1313 COMMAND Software (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERVO) operation error OFF then back ON.)
procedure).
1314 VERIFY Software (1)Reset the alarm.

ERROR(PARAMETE operation error (2)If the alarm occurs again, save the CMOS.BIN in
R)(SERVO) occurred maintenance mode, and then contact your Yaskawa
procedure).
1315 SERVOPACK Module (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERVO) failure(converter OFF then back ON.)
) (2)If the alarm occurs again, replace the SERVOPACK.
1316 COMMUNICATION Connection (1)Reset the alarm.(In case of major alarm, turn the power
WDT failure OFF then back ON.)
ERROR(SERVO) (2)If the alarm occurs again, check the connection and
EAXA01-CN515
YIF01-CN113
YIF board failure (1)Reset the alarm.

(2)If the alarm occurs again, replace the YCP01 board.
board.
1317 COMMAND Software (1)Reset the alarm.(In case of major alarm, turn the power
TIMEOUT(SERVO) operation error OFF then back ON.)
procedure).

Number Code
1318 CANNOT EXECUTE Software (1)Reset the alarm.(In case of major alarm, turn the power
COMMAND(SERVO operation error OFF then back ON.)
) occurred (2)If the alarm occurs again, save the CMOS.BIN in
procedure).
1319 SERIAL ENCODER Module (1)Reset the alarm.(In case of major alarm, turn the power
MODULE ERROR failure(encoder) OFF then back ON.)
1320 SERIAL ENCODER Module (1)Reset the alarm.(In case of major alarm, turn the power
SENSOR ERROR failure(encoder) OFF then back ON.)
1321 BRAKE BOARD Connection Check the connection of wiring around the brake circuit
ERROR failure board.
1322 BRAKE BOARD YBK board Check the cutout relay for the brake board main circuit.
STICKING failure
1325 COMMUNICATION Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(ENCODER) axis in which the alarm failure OFF then back ON.)
occurred (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1326 DEFECTIVE Sub Code: Signifies the Module (1)Check the following settings.
ENCODER axis in which the alarm failure(encoder) Replace the defective motor (encoder).
ABSOLUTE DATA occurred Check the position after the alarm.
External (1)Check the following settings.

environment Check the grounding condition of Manipulator.
Check whether it is installed into the strong magnetic
field.
Check the position after the alarm.

Number Code
1327 ENCODER OVER Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
SPEED axis in which the alarm failure OFF then back ON.)
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
Encoder failure Replace the defective motor (encoder).
Module (1)Check the following settings.

failure(brake) Check whether to find error in the brake slip and the brake
control relay.
1328 DEFECTIVE Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
ENCODER axis in which the alarm failure OFF then back ON.)
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1329 DEFECTIVE SERIAL Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
ENCODER axis in which the alarm failure OFF then back ON.)
COMMAND occurred (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

Number Code
1330 MICRO PROGRAM Sub Code: Signifies the EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
TRANSMIT ERROR axis in which the alarm failure OFF then back ON.)
occurred (2)If the alarm occurs again, replace the EAXA board.
1331 CONVERTER Module (1)Reset the alarm.(In case of major alarm, turn the power
CHARGE failure(converter OFF then back ON.)
ERR(CONVERTER) ) (2)If the alarm occurs again, replace the SERVOPACK.
Primary power Check if the primary power supply voltage does not drop.
failure
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
1332 POSITION ERROR EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
Check the position after the alarm.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
Noise Check the following settings.

interference Check the grounding condition of Manipulator.
Install a ferrite core to the motor power line.
1333 POSITION EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERIAL failure OFF then back ON.)
ENCODER) (2)If the alarm occurs again, replace the EAXA board.

Number Code
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
Noise Check the following settings.

interference Check the grounding condition of Manipulator.
Install a ferrite core to the motor power line.
1335 ENCODER NOT Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
RESET axis in which the alarm failure OFF then back ON.)
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
Battery failure [Robot axis]

Replace the battery inside the manipulator.
[External axis]
Check the voltage of external axis battery.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1339 OVER SPEED LIMIT Setting error Check the JOB.
1341 SERVO OVERRUN Motion range Check if the overrun limit switch is activated by the
ERROR error manipulator.

Number Code
Connection Check the overrun line.

failure
1343 COMMUNICATION 001 Communication status Connection (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(CONVERT error (The first digit shows failure OFF then back ON.)
ER) the converter No.) (2)If the alarm occurs again, check the connection and
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
failure(converter OFF then back ON.)
002 Command timeout (The Connection (1)Reset the alarm.(In case of major alarm, turn the power
first digit shows the failure OFF then back ON.)
converter No.) (2)If the alarm occurs again, check the connection and
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
procedure).
003 Sent buffer FULL (The Connection (1)Reset the alarm.(In case of major alarm, turn the power
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

Number Code
Converter failure Replace the converter.
procedure).
004 CRC-16 error (The first Connection (1)Reset the alarm.(In case of major alarm, turn the power
digit shows the converter failure OFF then back ON.)
No.) (2)If the alarm occurs again, check the connection and
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
procedure).
005 Error code received (The Connection (1)Reset the alarm.(In case of major alarm, turn the power
converter No) (2)If the alarm occurs again, check the connection and
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

Number Code
Software (1)Reset the alarm.

procedure).
006 Received command error Connection (1)Reset the alarm.(In case of major alarm, turn the power
(The first digit shows the failure OFF then back ON.)
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
Software (1)Reset the alarm.

procedure).

Number Code
1345 SAFE CIRCUIT Sub Code: XYY (Signifies Connection Check if the unmatched two double-checked signals are in
SIGNAL NOT the power-ON unit No. failure agreement.
SAME(SV) and unmatched signal
No.)
X: Power-ON unit
0: Power-ON unit1
(TU#1)
1: Power-ON unit2
(TU#2)
2: Power-ON unit3
(TU#3)
3: Power-ON unit4
(TU#4)
4: Power-ON unit5
(TU#5)
5: Power-ON unit6
(TU#6)
YY: Unmatched signal
01: KMMA signal
unmatched error
02: SVMAIN signal
unmatched error
03: SVMAIN1/2 signal
unmatched error
04: IORDY signal
unmatched error
05: ONEN signal
unmatched error
06: FUCUT signal
unmatched error
07: SHOCK1 signal
unmatched error
08: EXOT signal
unmatched error
09: OT signal unmatched
error
10: TUSONER signal
unmatched error
11: SVCMPER signal
unmatched error
12: TCER signal
unmatched error
13: SON_OUT signal
unmatched error
14: BRRVER signal
unmatched error
60: Error due to
unmatched output signal
for servo board failure
61: Error due to
unmatched signal for the
main contactor state
(closed contact)
62: Error due to
unmatched signal for the
main contactor state
(open contact)
63: Error due to
unmatched input signal
for the main contractor
control relay
64: Error due to
for the OT recovery
65: Error due to
for the external WDT
66: Error due to
unmatched 1FB input
signal: the brake release
control signal
E.g.)
Sub Code: 208
EXOT signal of the
Power-ON unit2 (TU#2) is
unmatched.

Number Code
1349 POWER LOST Instant power Check if the primary power supply voltage is dropping.
DETECTION(EAXA0 failure
1/02)
1350 POWER ON UNIT

TYPE MISMATCH
1352 SERIAL ENCODER Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
CORRECTION axis in which the alarm failure OFF then back ON.)
ERROR occurred (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1355 SERIAL ENC Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn the power
MULTITURN LIMIT axis in which the alarm failure OFF then back ON.)
ERR occurred (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

Number Code
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1356 SPECIFIED AXIS Setting error Check the job setting.

ERROR
1357 PRESS ERROR Setting error Check the job setting.
1360 PA NOT INSTALLED Connection Check the inserting and connection of prealigner.
failure
1400 ENCODER
ERROR(CONVEYO
R)
1401 CANNOT CHANGE

CONVEYOR MODE
1402 WORK IN/NOT

DATA CNT. LMT.
OVER
1403 WORK IN/NOT

SHIFT DATA POS
LMT.
1404 WORK ID. DATA

CNT. LMT. OVER
1405 WORK ID. SHIFT

DATA POS LMT.
1406 START SHIFT DATA

CNT. LMT. OVER
1407 START SHIFT DATA

POS LMT.
1420 SYSTEM
ERROR(BENDING)
1421 ENCODER
ERROR(LNR
SCALE)
1422 CANNOT CHANGE

ENCODER INPUT
1430 PRESS ENCODER

ERROR

Number Code
1431 PRESS DATA

RECEIVING ERROR
1432 PRESS ENCODER

DATA ERROR
1500 SAFETY CIRCUIT Circuit board (1)Reset the alarm.

FAULT(SERVO I/O) failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
the CMOS.BIN before replace the board to be safe.
1501 SVMX RELAY Circuit board (1)Reset the alarm.

STICKING(SERVO I/ failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
O) the CMOS.BIN before replace the board to be safe.
1502 CONTACTOR Circuit board (1)Reset the alarm.


IN FAULT(SV I/O) failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
1504 TUSON RELAY Circuit board (1)Reset the alarm.

1506 BROKEN Circuit board (1)Reset the alarm.

CONTACTOR failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
FUSE(SERVO I/O) the CMOS.BIN before replace the board to be safe.
1507 BROKEN S_ON Circuit board (1)Reset the alarm.

FUSE(SERVO I/O) failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save

WDT ERROR(SV I/ failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
1509 EXTERNAL WDT Circuit board (1)Reset the alarm.

OVER(SERVO I/O) failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
1510 EXTERNAL WDT Circuit board (1)Reset the alarm.

BROKEN(SERVO I/ failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
1511 COMMUNICATION Circuit board (1)Reset the alarm.

ERR(PLDs)(SERVO failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
I/O) the CMOS.BIN before replace the board to be safe.
1512 POWER SUPPLY Connection Check the power supply cable of the cooling fan in the
FAN failure CPS power unit.
ERROR(SERVO)
CPS module Check the cooling fan in the CPS power unit is working.
failure Replace the CPS power unit.

Number Code
Install failure Check that the air inlet or outlet is not blocked.
1513 POWER SUPPLY The temperature Turn the power OFF then back ON after cooling the
OVERHEAT(SERVO rises in the controller.
) controller
Connection Check the power supply cable of the cooling fan in the
failure CPS power unit.
CPS module Replace the CPS power unit.

failure
1514 OVERHEAT(AMPLIF The temperature Turn the power OFF then back ON after cooling the
IER) of amplifier rose. amplifier.
1515 SON_OUT RELAY Circuit board (1)Reset the alarm.

1516 BRRCER RELAY Circuit board (1)Reset the alarm.

1530 ABSOLUTE DATA Circuit board (1)Reset the alarm.

ERROR(SERVO2) failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save
failure(motor) OFF then back ON.)
(2)If the alarm occurs again, replace the motor.
failure(SERVOP OFF then back ON.)
ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1531 GATE ARRAY 1 Module (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(SERVO2) failure(SERVOP OFF then back ON.)
ACK) (2)If the alarm occurs again, replace the SERVOPACK
1532 GATE ARRAY 2 Module (1)Reset the alarm.(In case of major alarm, turn the power
1533 ABSOLUTE Connection (1)Reset the alarm.(In case of major alarm, turn the power
ENCODER failure OFF then back ON.)
ERROR(SERVO2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
Noise Check the noise source and take countermeasures to

interference reduce the noise.

Number Code
1534 GROUND Ground fault Check if a ground fault has not occurred in the U-, V-, and
FAULT(SERVO2) W-phase of motor power line, or short circuit has not
occurred between these phases.
1535 WATCHDOG Module (1)Reset the alarm.(In case of major alarm, turn the power
DETECTOR failure(SERVOP OFF then back ON.)
ERROR(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1536 CURRENT FB Connection Check the connection of motor power line.

ERROR(U failure
PHASE)(SV2)
1537 CURRENT FB Connection Check the connection of motor power line.

ERROR(V failure
PHASE)(SV2)
1538 INCR ENCODER Connection (1)Reset the alarm.(In case of major alarm, turn the power
INIT PULSE failure OFF then back ON.)
ERR(SV2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536


Number Code
1539 SERVO ON Setting error Replace the SERVOPACK.

COMMAND
INVALID(SERVO2)
1540 VIBRATION Setting error Check the settings for manipulator motion condition
DETECT(SERVO2) (influence by external force, load condition).
1541 FC SERIAL Module Replace the serial conversion unit.

ENCODER SUM failure(serial
ERROR(SV2) conversion unit)

ENCODER DATA failure(serial
ERR(SV2) conversion unit)
1543 MODULE Module (1)Reset the alarm.(In case of major alarm, turn the power

ENCODE SCALE failure(serial
ERR(SV2) conversion unit)
(2)If the alarm occurs again, replace the SERVOPACK.
1545 FC SERIAL Connection Check the insertion and connection of the followings.
CONVERT COMM failure Serial conversion unit
ERR(SV2) Cable between SERVOPACKs.

Module Replace the serial conversion unit.

failure(serial
conversion unit)

Number Code
1546 COMMUNICATION The transmission cycle Setting error Check the transmission cycle setting of MECHATROLINK
SET setting of communication.
ERR(ML2)(SV2) MECHATROLINK
communication is
incorrect.
1547 CURRENT Ground fault Check if a ground fault has not occurred in the U-, V-, and
FEEDBACK ERROR W-phase of motor power line, or short circuit has not
1550 MEMORY Module (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(PARAMETE failure(SERVOP OFF then back ON.)
R)(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1551 PRIMARY CIRCUIT Module (1)Reset the alarm.(In case of major alarm, turn the power
DETECT ERR(SV2) failure(SERVOP OFF then back ON.)
1552 PARAMETER Setting error Check the parameter settings.

ERROR(SERVO2)
1553 COMBINATION Setting error Compare the rated current of the SERVOPACK and the
ERROR(SERVO2) motor referring to each model, and check whether it is
possible to apply by specifications.
1554 OVERCURRENT(SE Ground fault Check if a ground fault has not occurred in the U-, V-, and
RVO2) W-phase of motor power line, or short circuit has not
The temperature Turn the power OFF then back ON after cooling the
rises in the controller.
controller
Setting error Check the settings for manipulator motion condition

(influence by external force, load condition).

Number Code
1555 ENCODER BACK- Voltage failure Check the voltage of the encoder backup battery.
UP
ERROR(SERVO2)
Connection Check the insertion and connection of the followings.

failure Encoder backup battery
Between encoders
1556 DEFECTIVE Module (1)Reset the alarm.(In case of major alarm, turn the power
ENCODER IN- failure(encoder) OFF then back ON.)
DATA(SV2) (2)If the alarm occurs again, replace the encoder.
1557 DEFECTIVE Connection (1)Reset the alarm.(In case of major alarm, turn the power
ENCODER ABSO failure OFF then back ON.)
DATA(SV2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
1558 ENCODER OVER Module (1)Reset the alarm.(In case of major alarm, turn the power
SPEED(SERVO2) failure(encoder) OFF then back ON.)
1559 GATE ARRAY Module (1)Reset the alarm.(In case of major alarm, turn the power

Number Code
1560 SYSTEM Module (1)Reset the alarm.(In case of major alarm, turn the power
1561 BROKEN PG Connection (1)Reset the alarm.(In case of major alarm, turn the power
LINE(A/B failure OFF then back ON.)
PHASE)(SV2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

1562 BROKEN PG Connection (1)Reset the alarm.(In case of major alarm, turn the power
LINE(C failure OFF then back ON.)
PHASE)(SV2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

1563 MULTITURN LIMIT Module (1)Reset the alarm.(In case of major alarm, turn the power
SET ERROR(SV2) failure(motor) OFF then back ON.)

Number Code
1564 COMMUNICATION Connection (1)Reset the alarm.(In case of major alarm, turn the power
ERR(ENCODER)(S failure OFF then back ON.)
V2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

1565 PARAMETER Module (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(ENCODER) failure(motor) OFF then back ON.)
(SERVO2) (2)If the alarm occurs again, replace the motor.
1566 ECHOBACK Connection (1)Reset the alarm.(In case of major alarm, turn the power
ERROR(ENCODER) failure OFF then back ON.)
(SERVO2) (2)If the alarm occurs again, check the connection and
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

1567 MULTITURN LIMIT Module (1)Reset the alarm.(In case of major alarm, turn the power
NOT failure(SERVOP OFF then back ON.)
SAME(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.

Number Code
1568 OPTION NOT Module (1)Reset the alarm.(In case of major alarm, turn the power
SPECIFIED(SERVO failure(SERVOP OFF then back ON.)
2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1569 OPTION Module (1)Reset the alarm.(In case of major alarm, turn the power
TIMEOUT(SERVO2) failure(SERVOP OFF then back ON.)
1570 OPTION WDC

ERROR(SERVO2)
1571 COMMUNICATION Module (1)Reset the alarm.(In case of major alarm, turn the power
WDT failure(SERVOP OFF then back ON.)
ERROR(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1572 COMMUNICATION Connection Check the connection of MECHATROLINK

ERROR(SERVO2) failure communication cable.

1573 SERVOPACK Module (1)Reset the alarm.(In case of major alarm, turn the power
BROKEN(SERVO2) failure(SERVOP OFF then back ON.)
1574 INITIAL ACCESS Module (1)Reset the alarm.(In case of major alarm, turn the power
1575 SERVOPACK WDC Module (1)Reset the alarm.(In case of major alarm, turn the power
EROOR(SERVO2) failure(SERVOP OFF then back ON.)
1576 COMMAND NOT Module (1)Reset the alarm.(In case of major alarm, turn the power
EXECUTE(SERVO2 failure(SERVOP OFF then back ON.)
) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1577 MAIN CIRCUIT Module (1)Reset the alarm.(In case of major alarm, turn the power
ANSWER failure(SERVOP OFF then back ON.)
ERROR(SV2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1578 SERVO MOTOR Connection Check the connection of motor power line.
DISCONNECTION(S failure
V2)

Number Code
1579 SERVO MOTOR Connection Check the connection of motor power line.
DISCONNECTION failure
2(SV2)
1580 OPTION I/F Module (1)Reset the alarm.(In case of major alarm, turn the power
1581 NS600 Module (1)Reset the alarm.(In case of major alarm, turn the power
1582 CURRENT Connection Check the connection of motor power line.

DETECTION failure
ERROR(SERVO2)
1583 PHASE DETECTION Connection Check the connection of Cable between encoders.
ERROR(SERVO2) failure

1584 POLE DETECTION Module (1)Reset the alarm.(In case of major alarm, turn the power
1585 MOTOR LOAD Connection Check the connection of mechanical combination.

POSITION failure
ERROR(SV2)
1586 EXCEEDED Module (1)Reset the alarm.(In case of major alarm, turn the power
POSITION failure(SERVOP OFF then back ON.)
DATA(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.

Number Code
1587 SCALE PITCH Module (1)Reset the alarm.(In case of major alarm, turn the power
SETTING failure(SERVOP OFF then back ON.)
1588 DIVIDING RATIO Module (1)Reset the alarm.(In case of major alarm, turn the power
SETTING failure(SERVOP OFF then back ON.)
1589 ENCODER MODEL Module Check the parameter setting, and then if it is normal,
UNMATCH(SERVO2 failure(encoder) replace the encoder.
)
1590 MC POWER Connection Check the connection of power supply of AC/DC.

SUPPLY WIRING failure
ERR(SV2)
Regenerative Replace the regenerative resistor.

resistor failure
1591 LINEAR MOTOR Module (1)Reset the alarm.(In case of major alarm, turn the power
MAX SPEED failure(SERVOP OFF then back ON.)
SET(SV2) ACK) (2)If the alarm occurs again, replace the SERVOPACK.
1592 MONITOR PLD Circuit board (1)Reset the alarm.

ERROR 1(SERVO I/ failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save


1650 FILE TRANSFER 1 An error occurred when Software (1)Reset the alarm.(In case of major alarm, turn the power
DATA ERROR (SV) the last data was not operation error OFF then back ON.)
received during the first occurred (2)If the alarm occurs again, save the CMOS.BIN in
data communication at maintenance mode, and then contact your Yaskawa
execution of motion representative about occurrence status (operating
command. procedure).

failure (2)If the error occurs again, save the CMOS.BIN in
maintenance mode, replace the following board.
EAXA board

failure If the error occurs again, save the CMOS.BIN in
maintenance mode, and then replace the YCP01 board. In
this case, use the original CF card of the YCP01 board.

Number Code
(2)If the error occurs again, save the CMOS.BIN in
maintenance mode, replace the YIF board. and then load
the CMOS.BIN previously saved in maintenance mode.
2 An error occurred when EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
the first data was not failure OFF then back ON.)
received during on the (2)If the alarm occurs again, replace the EAXA board.
way data communication Save the CMOS.BIN before replace the board to be safe.
at execution of motion
command.
3 An error occurred when EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
the first data was not failure OFF then back ON.)
received during the last (2)If the alarm occurs again, replace the EAXA board.
data communication at Save the CMOS.BIN before replace the board to be safe.
execution of motion
command.
1651 FILE TRANSFER 1 The data size for the file EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
DATA SIZE ERR transfer does not agree failure OFF then back ON.)
(SV) with the received buffer (2)If the alarm occurs again, replace the EAXA board.
size. Save the CMOS.BIN before replace the board to be safe.
2 Buffer size over EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
1652 DB ON ERROR EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
(SERVO) failure OFF then back ON.)
procedure).
1653 BASE BLOCK EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
SIGNAL failure OFF then back ON.)
ERROR(SERVO) (2)If the alarm occurs again, replace the EAXA board.
procedure).

Number Code
1654 PG POWER ON Setting error Check if the PICK instruction was executed again for the
MULTIPLE REQ axis where executed the PICK instruction in the gun
(SV) change system.
1655 CONVERTER Module (1)Reset the alarm.(In case of major alarm, turn the power
COMMAND ERROR failure(converter OFF then back ON.)
(SV) ) (2)If the alarm occurs again, replace the SERVOPACK.
1656 AXIS ENDLESS Setting error Check the JOB.

INFO NOT (1)Turn the power OFF then back ON.
GENERATED(SV) (2)If the error occurs again, contact your Yaskawa
representative.
1657 AXIS ENDLESS 1 The home position Setting error Disable either the axis endless function or the home
SPECIFIC. ERR(SV) detecting function was position detection function of corresponding axis.
used for the axis for
which the axis endless
function was enabled.
The home position
detecting function cannot
be used for the axis which
the axis endless function
was enabled.
2 The servo float function Setting error Disable either the axis endless function or the servo float
was used for the axis for function of corresponding axis.
The servo float function
cannot be used for the
axis which the axis
endless function was
enabled.
3 The encoders Setting error Disable the corresponding axis endless function.
manufactured by
Tamagawa Seiki Co., Ltd.
was used for the axis for
The encoders
manufactured by
Tamagawa Seiki Co., Ltd.
axis which the axis
enabled.
4 The general servo Setting error Disable the corresponding axis endless function.
function was used for the
axis for which the axis
enabled.
The general servo
function cannot be used
for the axis which the axis
enabled.
1658 REDUCTION STOP 1 The servo float function Setting error Check the JOB.
SPECIFIC. ERR(SV) was used for the axis for
which the deceleration
stop function was
enabled.
The servo float function
axis which the
deceleration stop function
was enabled.

Number Code
2 The specified axis speed Setting error Check the JOB.

control function was
executed for the axis
which the deceleration
stop function was
enabled.
Specified axis speed
control function cannot be
used for the axis which
the deceleration stop
1659 MOTOR GUN Setting error Check if the PICK instruction was executed again for the
CHANGE PG PWR axis where executed the PICK instruction in the gun
ON ERR(SV) change system.
1660 MOTOR GUN Setting error Check if the PICK instruction was executed again for the
CHANGE SV ON axis where executed the PICK instruction in the gun
ERR(SV) change system.
1661 MOTOR GUN Setting error Check the JOB.

COND. FILE NO.
ERR(SV)
File setting error Check the gun condition file.
1662 MOTOR GUN Setting error Check the JOB.

PRESS FILE NO.
ERR(SV)
1663 WRONG MOTOR Setting error Check the JOB.

GUN PRESS AXIS
(SV)
1664 MICRO PRG EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
EXECUTE TIME failure OFF then back ON.)
OVER(SV) (2)If the alarm occurs again, replace the EAXA board.
1665 MICRO PROGRAM EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
SYNC. ERROR (SV) failure OFF then back ON.)
1666 FILE RECEIVE EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
INCOMPLETE failure OFF then back ON.)
(SERVO) (2)If the alarm occurs again, replace the EAXA board.
1667 RESOLUTION EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
CONVERSE CONST failure OFF then back ON.)
ERR(SV) (2)If the alarm occurs again, replace the EAXA board.

Number Code
1668 CANNOT EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
GENERATE failure OFF then back ON.)
GENERAL CMD (2)If the alarm occurs again, replace the EAXA board.
(SV) Save the CMOS.BIN before replace the board to be safe.
1669 GENERAL SERVO EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
CMD CODE ERR failure OFF then back ON.)
(SV) (2)If the alarm occurs again, replace the EAXA board.
1670 GENERAL SERVO EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
SETTING ERROR failure OFF then back ON.)
1671 GENERAL SV EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
ALARM CODE failure OFF then back ON.)
ERROR (SV) (2)If the alarm occurs again, replace the EAXA board.
1672 GRP CHANGE PG Sub Code: Signifies the Setting error Check the JOB.
POWER ON ERR axis in which the alarm
(SV) occurred
1673 GRP CHANGE Sub Code: Signifies the Setting error Check the JOB.
SERVO ON ERROR axis in which the alarm
(SV) occurred
1674 CTRL LAW EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
SWITCHING failure OFF then back ON.)
ORDER ERR (SV) (2)If the alarm occurs again, replace the EAXA board.
1675 BASE BLOCK READ EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
SIGNAL ERR (SV) failure OFF then back ON.)
1676 BASE BLOCK EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
WRITE SIGNAL failure OFF then back ON.)
ERR (SV) (2)If the alarm occurs again, replace the EAXA board.
1677 U.PROG. BB READ EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
SIG INCONSIST(SV) failure OFF then back ON.)

Number Code
1678 MOTOR CMD EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
POSITION ERROR failure OFF then back ON.)
1679 EXTERNAL BRAKE YBK board Replace the YBK01 fuse.

FUSE BROWN(SV) failure
1680 GENERAL I/O FUSE EAXA board (1)Reset the alarm.(In case of major alarm, turn the power
BROWN(SV) failure OFF then back ON.)
1681 BRAKE POWER YBK board Check the power source of YBK01, and then if no fault is
ERROR(SV) failure found, replace the brake unit.
1682 EXTERNAL BRAKE YBK board Check the external axis brake of YBK01 in the power
POWER failure source, and then if no fault is found, replace the brake
ERROR(SV) unit.
1684 INSTANT POWER The instant power failure Voltage failure Check if the primary power supply voltage is dropping.
FAILURE(TRQ)(SV) occurred and then the
torque was saturated.
Power failure Check if the instant power failure has occurred.
1685 INSTANT POWER The instant power failure Voltage failure Check if the primary power supply voltage is dropping.
FAILURE(TIME)(SV) occurred for longer than
the certain time period.
Power failure Check if the instant power failure has occurred.
1686 POS.DEVITATION Setting error Check the settings for manipulator motion condition
SATURATING (influence by external force, load condition).
ERR(SV)
Interference Remove interference of the manipulator.

error
Connection Check the connection of motor power line.

failure
1800 M-SAFETY SYSTEM 13 Information of the YSU unit failure (1)Turn the power OFF then back ON.
ERROR(CPU1) connected the EAXA (2)If the alarm occurs again, replace the YSU unit. Save
board is different between the CMOS.BIN before replace the YSU unit to be safe.
the CPU1 and the CPU2
of the YSU unit.

Number Code
14 Information of the YSU unit failure (1)Turn the power OFF then back ON.
connected the EAXA (2)If the alarm occurs again, replace the YSU unit. Save
of the YSU unit in
coordinated control
system.
1801 SV M-SAFETY 0 The communication Connection (1)Turn the power OFF then back ON.
BROKEN between the EAXA board failure (2)If the alarm occurs again, check the connection of the
LINE(CPU1) and the YSU unit are following communication cables.
disconnected. The communication cable between EAXA board (CN518
connector) and YSU unit (CN202 connector)
(3)After confirmation of the communication cable
connection, and then if the alarm occurred again, replace
the communication cable below.
The communication cable between EAXA board (CN518
YSU unit failure (1)Turn the power OFF then back ON.
(2)After replacement the communication cable, and then if
the alarm occurred again, replace the YSU unit. Save the
CMOS.BIN before replace the YSU unit to be safe.
1802 M-SAFETY 0 Failed to initialize the YSU unit failure (1)Turn the power OFF then back ON.
INITIALIZE CPU1 when the control (2)If the alarm occurs again, replace the YSU unit. Save
ERROR(CPU1) power turned ON. the CMOS.BIN before replace the YSU unit to be safe.
1803 M-SAFETY CPU 0 Watch dog time out YSU unit failure (1)Turn the power OFF then back ON.
ERROR(CPU1) occurred in the CPU1 of (2)If the alarm occurs again, replace the YSU unit. Save
the YSU unit. the CMOS.BIN before replace the YSU unit to be safe.
2 Watch dog time out YSU unit failure (1)Turn the power OFF then back ON.
occurred in the CPU1 in (2)If the alarm occurs again, replace the YSU unit. Save
mutual monitoring of the the CMOS.BIN before replace the YSU unit to be safe.
CPU1 and the CPU2.
1804 M-SAFETY SELF 0 When the controller YSU unit failure (1)Turn the power OFF then back ON.
CHECK power turned ON, CPU1 (2)If the alarm occurs again, replace the YSU unit. Save
ERROR(CPU1) detected an error in the the CMOS.BIN before replace the YSU unit to be safe.
watchdog detection
circuit.
1805 SV M-SAFETY NO 1 The communication error Connection (1)Turn the power OFF then back ON.
COMMUNICATE(CP (loop back error) occurred failure (2)If the alarm occurs again, check the connection of the
U1) in the EAXA board of following communication cables.
rotary switch was set to The communication cable between EAXA board (CN518
"0". connector) and YSU unit (CN202 connector)

Number Code

failure (2)After replacement the YSU unit, and then if the alarm
occurred again, replace the EAXA board. Save the
CMOS.BIN before replace the EAXA board to be safe.
2 The communication error Connection (1)Turn the power OFF then back ON.
(loop back error) occurred failure (2)If the alarm occurs again, check the connection of the
in the EAXA board of following communication cables.


Number Code




Number Code



Number Code

11 The communication error YSU unit failure (1)Turn the power OFF then back ON.
occurred between the (2)If the alarm occurs again, replace the YSU unit. Save
EAXA board and the YSU the CMOS.BIN before replace the YSU unit to be safe.
unit.
unit.
unit.
14 The communication YSU unit failure (1)Turn the power OFF then back ON.
control IC of YSU unit (2)If the alarm occurs again, replace the YSU unit. Save
detected the error. the CMOS.BIN before replace the YSU unit to be safe.
1806 SV M-SAFETY CRC 0 Connection (1)Turn the power OFF then back ON.
ERROR(CPU1) failure (2)If the alarm occurs again, check the connection of the
following communication cables.

Number Code

1807 M-SAFETY SLAVE 1 There is the EAXA board Connection (1)Turn the power OFF then back ON.
TIME OUT(CPU1) for display of the 7 failure (2)If the alarm occurs again, check the connection of the
segment LED(DS1) of following communication cables.
EAXA board is not "d" The communication cable between EAXA board (CN518
(on-line process). connector) and YSU unit (CN202 connector)

2 There is the EAXA board Connection (1)Turn the power OFF then back ON.
for display of the 7 failure (2)If the alarm occurs again, check the connection of the

Number Code

1808 M-SAFETY SLAVE 0 Setting error Correct the set value in maintenance mode.
UNDEFINED(CPU1)
1809 M-SAFETY POWER 0000_ CPU1 detected the 3.3V Blown fuse (1)Turn the power OFF then back ON.
VOLT 1100 over voltage in the CPU2. (2)If the alarm occurs again, check the followings.
ERROR(CPU2) 7 segment LED (DS1 orDS2) of YSU unit is turned OFF:
Replace the fuse(F3/F4) in YSU unit board.
(2)After replacement the fuse, and then if the alarm
occurred again, replace the YSU unit. Save the
0000_ CPU1 detected the 3.3V YSU unit failure (1)Turn the power OFF then back ON.
1010 low voltage in the CPU2. (2)If the alarm occurs again, replace the YSU unit. Save
the CMOS.BIN before replace the YSU unit to be safe.
0000_ CPU1 detected 24V Connection (1)Turn the power OFF then back ON.
0110 power supply voltage failure (2)If the alarm occurs again, check the connection of the
error in the CPU2. following cables.
Cable of the YSU unit(CN200 connector)
Cable of the YPS unit(CN154 connector)
Loose fuse (1)Turn the power OFF then back ON.

(2)If the alarm occurred again, check if the fuse(F1/F2) is
not removed. Fuse is located on the front of the YSU unit.
Blown fuse (1)Turn the power OFF then back ON.

(2)If the alarm occurred again after confirmation of the
fuse removal, replace the fuse (F1/F2) of the YSU unit.
Fuse is located on the front of the YSU unit.
Ground fault or (1)Turn the power OFF then back ON.

a short circuit (2)If the alarm occurs again after replacement the fuse,
check the following content.
Check whether neither the short circuit nor the ground
fault have occurred in the I/O cables from the external
device when other alarms that show 24V power supply
error occurred at the same time.
1810 M-SAFETY UNIT 1 The unconnection with Connection (1)Turn the power OFF then back ON.
LINK ERROR(CPU1) other YSU units was failure (2)If the alarm occurs again, check the followings.
detected. Check the connection of cable connected with other YSU
unit.
(3)After confirmation of the connection, and then if the
alarm occurred again, replace the communication cable.

Number Code
2 The unconnection with Connection (1)Turn the power OFF then back ON.
other YSU units was failure (2)If the alarm occurs again, check the followings.
unit.
1811 M-SAFETY SYSTEM 13 Information of the YSU unit failure (1)Turn the power OFF then back ON.
ERROR(CPU2) connected the EAXA (2)If the alarm occurs again, replace the YSU unit. Save
of the YSU unit.
14 Information of the YSU unit failure (1)Turn the power OFF then back ON.
connected the EAXA (2)If the alarm occurs again, replace the YSU unit. Save
of the YSU unit in
coordinated control
system.
1812 SV M-SAFETY 0 The communication Connection (1)Turn the power OFF then back ON.
BROKEN between the EAXA board failure (2)If the alarm occurs again, check the connection of the
LINE(CPU2) and the YSU unit are following communication cables.
disconnected. The communication cable between EAXA board (CN518
1813 M-SAFETY Failed to initialize the YSU unit failure (1)Turn the power OFF then back ON.
INITIALIZE CPU2 when the control (2)If the alarm occurs again, replace the YSU unit. Save
ERROR(CPU2) power turned ON. the CMOS.BIN before replace the YSU unit to be safe.
1814 M-SAFETY CPU 0 Watch dog time out YSU unit failure (1)Turn the power OFF then back ON.
ERROR(CPU2) occurred in the CPU2 of (2)If the alarm occurs again, replace the YSU unit. Save
the YSU unit. the CMOS.BIN before replace the YSU unit to be safe.
2 An error occurred in the YSU unit failure (1)Turn the power OFF then back ON.
CPU2 in mutual (2)If the alarm occurs again, replace the YSU unit. Save
monitoring of the CPU1 the CMOS.BIN before replace the YSU unit to be safe.
and the CPU2.
1815 M-SAFETY SELF 0 When the controller YSU unit failure (1)Turn the power OFF then back ON.
CHECK power turned ON, CPU2 (2)If the alarm occurs again, replace the YSU unit. Save
ERROR(CPU2) detected an error in the the CMOS.BIN before replace the YSU unit to be safe.
watchdog detection
circuit.

Number Code
1816 SV M-SAFETY NO 1 The communication error Connection (1)Turn the power OFF then back ON.
COMMUNICATE(CP (loop back error) occurred failure (2)If the alarm occurs again, check the connection of the
U2) in the EAXA board of following communication cables.



Number Code



Number Code



Number Code


unit.

Number Code
unit.
unit.
14 The communication YSU unit failure (1)Turn the power OFF then back ON.
control IC of YSU unit (2)If the alarm occurs again, replace the YSU unit. Save
detected the error. the CMOS.BIN before replace the YSU unit to be safe.
1817 SV M-SAFETY CRC 0 Connection (1)Turn the power OFF then back ON.
ERROR(CPU2) failure (2)If the alarm occurs again, check the connection of the
following communication cables.

1818 M-SAFETY SLAVE 1 There is the EAXA board Connection (1)Turn the power OFF then back ON.
TIME OUT(CPU2) for display of the 7 failure (2)If the alarm occurs again, check the connection of the

Number Code

2 There is the EAXA board Connection (1)Turn the power OFF then back ON.
for display of the 7 failure (2)If the alarm occurs again, check the connection of the

1819 M-SAFETY SLAVE 0 Setting error Correct the set value in maintenance mode.
UNDEFINED(CPU2)
1820 M-SAFETY POWER 0000_ CPU2 detected the 3.3V Blown fuse (1)Turn the power OFF then back ON.
VOLT 1101 over voltage in the CPU1. (2)If the alarm occurs again, check the followings.
ERROR(CPU1) 7 segment LED (DS1 orDS2) of YSU unit is turned OFF:
Replace the fuse(F3/F4) in YSU unit board.
(2)After replacement the fuse, and then if the alarm
0000_ CPU2 detected the 3.3V YSU unit failure (1)Turn the power OFF then back ON.
1011 low voltage in the CPU1. (2)If the alarm occurs again, replace the YSU unit. Save
the CMOS.BIN before replace the YSU unit to be safe.
0000_ CPU2 detected 24V Connection (1)Turn the power OFF then back ON.
0111 power supply voltage failure (2)If the alarm occurs again, check the connection of the
error in the CPU1. following cables.
Cable of the YSU unit(CN200 connector)
Cable of the YPS unit(CN154 connector)
Loose fuse (1)Turn the power OFF then back ON.

(2)If the alarm occurred again, check if the fuse(F1/F2) is
not removed. Fuse is located on the front of the YSU unit.

Number Code
Blown fuse (1)Turn the power OFF then back ON.

(2)If the alarm occurred again after confirmation of the
fuse removal, replace the fuse (F1/F2) of the YSU unit.
Fuse is located on the front of the YSU unit.
Ground fault or (1)Turn the power OFF then back ON.

a short circuit (2)If the alarm occurs again after replacement the fuse,
check the following content.
Check whether neither the short circuit nor the ground
fault have happened because of the I/O cables from the
external device when other alarms that show 24V power
supply error occurred at the same time.
0000_ CPU2 detected the 5V YSU unit failure (1)Turn the power OFF then back ON.
1110 low voltage in the CPU1. (2)After replacement the fuse, and then if the alarm
1821 M-SAFETY UNIT 1 The unconnection with Connection (1)Turn the power OFF then back ON.
LINK ERROR(CPU2) other YSU units was failure (2)If the alarm occurs again, check the followings.
unit.
2 The unconnection with Connection (1)Turn the power OFF then back ON.
other YSU units was failure (2)If the alarm occurs again, check the followings.
unit.

DX100
...
DX100
...
MOTOMAN in Ihrer Nhe / MOTOMAN near You
YASKAWA Electric Corporation
JP 2-1, Kurosaki-shiroishi
Yahatanishi-ku
Kitakyushu-shi 806-0004
+093-645-8801
MOTOMAN EU Distributors
A MOTOMAN robotec GmbH BG Kammarton Bulgaria Ltd.
Wien +43-1-707-9324-15 Sofia +359-02-926-6060
CZ MOTOMAN robotec s.r.o. CH Messer Eutectic Castolin Switzerland S.A.
Prag +420-257-941-718 Dllikon +41-44-847-17-17
D MOTOMAN robotec GmbH CZ Hadyna International spol s.r.o.
Allershausen +49-8166-90-0 Ostrava-Marianske Hory +420-596-622-636
MOTOMAN robotec GmbH Sp-Tech s.r.o.
Frankfurt +49-6196-77725-0 Nymburk +420-325-515105
DK MOTOMAN Robotics Europe AB H Flexman Robotics Kft
Lsning +45-7022-2477 Budapest +36-30-9510065
E MOTOMAN Robotics Iberica S.L. Rehm Hegesztstechnika Kft
Barcelona +34-93-6303478 Budapest +36-53-380-078
F MOTOMAN Robotics S.A. IL Yaskawa Europe Technology LTD.
Nantes +33-2-40131919 Rosh Haayin +972-3-9004114
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Turku +358-403000600 Lierstranda +47-32240600
GB MOTOMAN Robotics UK Ltd PL Integrator RHC Sp. z o.o.
Banbury +44-1295-272755 Torun +48-56-6519710
I MOTOMAN Robotics Italia SRL RUS Weber Comechanics
Modena +39-059-280496 Torun +7-495-105-8887
Turin +39-011-9005833 TR Teknodrom Robotik
NL MOTOMAN Benelux B.V. Otomasyon San. Tic. Ltd. pti
Son +31-40-2895500 Gebze/Kocaeli +90-262-678-88-18
P MOTOMAN Robotics Iberica S.L. ZA Robotic Systems SA PTY Ltd
Aveiro +351-234-943 900 Johannesburg +27-11-6083182
SE MOTOMAN Robotics Europe AB
Kalmar +46-480-417800
MOTOMAN Robotics Europe AB
Torsas +46-480-417800
SI MOTOMAN robotec d.o.o.
Ribnica +386-1-8372-410
Ristro d.o.o.
Ribnica +386-1-8372-410
Zentrale / MOTOMAN robotec GmbH Schulungszentrum MOTOMAN robotec GmbH

Headquarters Kammerfeldstrae 1 und Vertriebsniederlassung / Hauptstrae 185
D-85391 Allershausen Training centre and sales office D-65760 Eschborn
Fon 0049-81 66-90-0 Fon 0049-61 96 - 777 25 - 0 www.motoman.eu
Fax 0049 -81 66-90-103 Fax 0049-61 96 - 777 25 - 39 e-Mail: info@motoman.de
nderungen, welche dem technischen Fortschritt dienen, vorbehalten.

Alterations in the course of technical progress, are reserved, without separate information.

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DX100

Table of Basic Instruction

- The operating instructions are only for internal use.

<> indicates numerical or alphabetical data.

1.1 Move Instructions

MOVJ Function Moves to a taught point with joint interpolation type.

5 Beginners Reference DX100

Beginners Referenze DX100 6

7 Beginners Reference DX100

Number of addressed output signals:

OGH#(xx) is not subject to parity check; only the binary

Number of addressed input signals:

Number of addressed output signals:

IGH#(xx) and OGH#(xx) are not subject to parity

Beginners Referenze DX100 8

9 Beginners Reference DX100

Beginners Referenze DX100 10

11 Beginners Reference DX100

Beginners Referenze DX100 12

13 Beginners Reference DX100

Data1 can be an element in a position variable.

Data1 can be an element in a position variable.

Beginners Referenze DX100 14

15 Beginners Reference DX100

Beginners Referenze DX100 16

17 Beginners Reference DX100

Beginners Referenze DX100 18

19 Beginners Reference DX100

Beginners Referenze DX100 20

2.1 Preparation for Teaching

2.1.1 Checking Emergency Stop Buttons

Press E. STOP button.

2.1.2 Setting the Teach Lock

2.1.3 Register ing a Job

21 Beginners Reference DX100

2.1.4 Re gistering Jobs

Select {CREATE NEW JOB}.

Input job name.

Beginners Reference DX100 22

2.1.6 Registering Control Groups

2.1.7 Switching to the Teaching Window

23 Beginners Reference DX100

2.2.1 T eaching Window

C. Instruction, additional items,

C. Instructions, Additional Items, Comments, Etc

Tag Numerical Data

Beginners Reference DX100 24

2.2.2 Interpolation Type and Play Speed

2.2.3 Jo int Interpolation

2.2.4 Lin ear Interpolation

25 Beginners Reference DX100

Fast 1500.0 Fast 9000

2.2.5 Cir cular Interpolation

Continuous Circular Arcs

Beginners Reference DX100 26

Interpolation Type for Continuous Circular Arcs

Point Interpolation Instruction

27 Beginners Reference DX100

Interpolation Type for Single Spline Curve

Automatically becomes P0 Joint or MOVJ

Continuous Spline Curves

Interpolation Type for Continuous Spline Curves

Beginners Reference DX100 28