Overrun alarms, 4670 or 4671, occur when one of the axes overruns its limits
OVER 10 WELD SECT
(MULT) (Decimal Data)
Number of weld sect. is more than 10 (MLTSMPL, MLTSCAL).
Set number of weld sect. in jobs 1-10.
7040
Move instruction types are not the same between specified jobs (MLTSCAL).
Match move instruction types between specified jobs.
7050 7051 7052
SAME POINT ERROR (MOVL 3 POINTS)
3 same points are set within scaling shift sect. (MLTSCAL).
Set 2 points the same at most.
7060 7061 7062
SAME POINT ERROR (REFP)
REFP command is given at the same point within scaling shift sect.
(MLTSCAL).
Instruct REFP same point again.
7070 7071 7072
SAME POINT ERROR (START, END)
Start point and end point are set at the same point within scaling shift sect. (MLTSCAL).
Instruct start point and end point at different positions.
7080 7081 7082
ERROR OF SCALING CALCULATION (Decimal Data)
Alarm Data:
1: Internal transaction error 1.
2: Internal transaction error 2.
3: Arithmetic error (MLTSCAL).
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
1: VLMPOS command was executed before VLMATCH command is executed.
2: Line file is not defined.
3: Specified line number doesn't exist.
4: Sort number is wrong.
5: VLMPOS command is not executed.
6: Line file fault.
Clear errors according to alarm data.
1: Execute VLMATCH command first.
2: Check line file number.
3: Set correct line number.
4: Set correct sort number.
5: Execute VLMPOS command.
6: Register line file again.
7110
1: Parity error or overrun error or flaming error occurred.
2: Answer was not given within 3 seconds from sensor during transmission.
3: Data from sensor has error (BCC check result error).
Clear errors according to alarm data.
1: Check whether or not transmission method between controller and sensor is matched.
2: Check line connection.
3: Check data from sensor.
7120 FAULT (SENSOR MONITOR CONDITION FILE) (Decimal Data)
CMOS memory cutting cond. file fault.
Data indicates file number.
• Initialize cutting condition file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
7130 APPLICATION PROGRAM STARTING ERROR (Decimal Data)
Another application started during application program execution.
Check job after resetting the alarm.
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ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
7140 UNDEFINED APPLICATION PROGRAM (Decimal Data)
Undefined application started with APSTART command.
Either change name of APSTART command or load application program.
7150 8086 EMULATOR STARTING ERROR (Decimal Data)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7160 ZERO DIVIDED OCCURRENCE (TURBO) (Decimal Data)
Application program executed zero divided (emulation mode).
Correct application program.
7170
Request cannot go through from
motion area to sensor area. • Turn OFF power and then turn it ON again.
• Turn OFF power and check the insertion of the MLS board.
• For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
1: MULT layer weld function.
2: Observer function.
3: Turbo function.
4: COMARC function.
5: Conveyor/press sync. function.
6: Shared movement function.
7: Weight movement function.
8: General purpose sensor function.
9: Servofloat function.
10: Laser cutting function.
11: Servo gun function (for spot weld).
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7190 FAULT (NAME POSITION FILE) (File Number)
CMOS memory name position file fault.
Data indicates file number.
Position name development is under discontinuation.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
Position name development is under discontinuation.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
Position name development is under discontinuation.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
Position name development is under discontinuation.
1: User frame making position teaching error.
2: User frame rotating position teaching error.
3: Robot doesn't exist in rotating position occupation group.
4: Name position data user frame number error.
5: Name position data position tag error.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
长沙工控帮教育科技有限公司
TROUBLESHOOTING
SK16 Dual MRC Instructions 5-42
MOTOMANTable 5-5 List of Alarm Messages - continued ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
7230 CANNOT MONITOR DISTANCE
MOVJ, MOVS were going to be executed under arc-retry, restart operation.
Either change command names to MOVL, MOVC or do not execute arc-retry, restart operation.
7240 ME-NET SYSTEM ERROR 2
(Decimal Data)
MSC02 board error during communication.
Value of type 1 receiving frame NI (relay link sending size) and NY (register link sending size) doesn't match that of data link parameter.
Check other station's data.
7250 ME-NET COMM
MONITOR FLAG ERROR
(Decimal Data)
Communication monitor flag is zero at alarm set station.
1-63: error stations (mother station is not included).
This error occurs only at alarm set station.
Restart communication at error station and then reset alarm.
7260 ME-NET STAT MONITOR FLAG ERROR1 (Decimal Data)
Communication monitor flag 1 is zero at alarm set station.
1-64: error stations (64 indicates mother station).
This error occurs only at alarm set station.
Restart programming at error station and then reset alarm.
7270 ME-NET STAT MONITOR FLAG ERROR2 (Decimal Data)
Communication monitor flag 2 is zero at alarm set station.
1-64: error stations (64 indicates mother station).
This error occurs only at alarm set station.
Clear errors at error station and then reset alarm.
7280 DATA LINK
PARAMETER ERROR (Decimal Data)
Alarm Data:
10: Number of stations error (not 2 number of stations, 64).
11: Total amount of relay and register sending size per station on data link parameter exceeds 1024.
12: Total amount of all stations relay sending size on data link parameter exceeds 256.
13: Total amount of all stations register sending size on data link parameter exceeds 2048.
14: Relay off-set exceeds mother stations relay area size on data link parameter.
15: Register off-set exceeds mother stations relay area size on data link parameter.
20: Block specified with data link allocation exceeds self-station
Correct data link allocation of self-station or mother station data link parameter.
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ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
Alarm Data, continued:
22: Block specified with data link allocation exceeds other
23: Block specified with data link allocation exceeds other
24: Station number specified with data link allocation is not included in number of stations on data link parameter.
Correct data link allocation of self-station or mother station data link parameter.
7290 WAITING DATA LINK PARAMETER
Waiting for data link parameter from mother station.
Restart communication with mother station and then reset alarm.
7300 FAULT (OPERATION ORIGIN DATA)
CMOS memory operation origin data fault.
Since this is a system data file problem, contact MOTOMAN Customer Service at (937) 847-3200.
7310 FAULT
(SERVOFLOAT COND. FILE) (File Number)
CMOS memory servofloat condition file fault.
Data indicates file number.
• Initialize spot gun cond. file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
7320 FAULT (PRESS COND. DATA FILE)
CMOS memory press cond. data file fault. Data indicates file number.
Initialize press cond. data file (customer maintenance).
7330 7331 7332
UNDEFINED PRESS COND. DATA FILE (Decimal Data)
Specified press cond. data file in job is not defined.
Select "use" for specified cond. data file.
7340 7341 7342
UNDEFINED PRESS RESOLUTION DATA (Decimal Data)
Specified press resolution data file is not defined.
Define data the select "complete."
7350
Request (to initialize) cannot go through from motion area to sensor area.
• Turn OFF power and then turn it ON again.
• Turn OFF power and check the insertion of the MLS board.
• For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
长沙工控帮教育科技有限公司
TROUBLESHOOTING
SK16 Dual MRC Instructions 5-44
MOTOMANTable 5-5 List of Alarm Messages - continued ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
7360 7361 7362
SV FLOAT MODE SET ERROR (AXIS)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7370 7371
SV FLOAT MODE RELEASE ERROR (Axis)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
Encoder cable is cut or encoder itself is broken.
Data indicates error press number.
Check encoder cable/encoder.
7390 7391
PRESS POSITION LIMIT
(123)
Press position exceeds limit (21m).
Data indicates error press cond. data file number.
Check press stroke.
7400 7401
PRESS COUNTER LIMIT
(123)
Press position counter pulse overflow.
Check press position counter pulse (press resolution).
7410 CPU RACK SERVO ERROR
CPU rack/board error. Wrong board
was inserted. • Check board insertion.
• Check MSV board connector/short pin.
• For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
Encoder cable is cut or encoder itself is broken.
Data indicates error press number.
Check encoder cable/encoder.
7430 7431
INTERNAL CLOCK CHANGE ERROR (123)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7440 7441 7442
SERVOPACK POWER OFF ERROR (Decimal Data)
1: Main power is "ON."
2: SRDY is "OFF."
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7450 7451 7452
SERVOPACK POWER ON ERROR (Decimal Data)
1: Main power is "OFF."
2: SRDY is "ON."
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7460 FAULT (SPOT GUN COND. FILE) (File Number)
CMOS memory spot gun cond. file
fault. Data indicates file number. • Initialize spot gun cond. file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
7470 FAULT (SPOT WELDER COND.
FILE) (File Number)
CMOS memory spot welder cond.
file fault. Data indicates file number. • Initialize spot gun cond. file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
7480 FAULT (SERVO GUN PRESSURE FILE) (File Number)
CMOS memory servo gun pressure cond. file fault. Data indicates file number.
• Initialize spot gun cond. file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
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ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
7490 FAN ERROR
(REGENERATIVE RESISTOR) (Decimal Data)
Fan (regenerative resistor) revolution
decreased. • After resetting alarm, move manipulator to safe location.
• Fan needs to be replaced. Contact MOTOMAN Customer Service at (937) 847-3200.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7510 7511 7512
UNDEFINED SIGNAL FOR SPOT WELD COMPLETE
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7530 7531 7532
ERROR IN WELD START TIMING
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7540 7541 7542
SERVO GUN CONT.
MODE SET ERROR (AXIS)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7550 7551 7552
SERVO GUN CONT.
MODE RELEASE ERROR (AXIS)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7570 7571 7572
SPOT WELD ERROR (Decimal Data)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7580 FAULT
(ANTICIPATION OT FILE).
(File Number)
CMOS memory anticipation OT file
fault. Data indicates file number. • Initialize anticipation OT file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
7590 FAULT
(ANTICIPATION OG FILE).
(File Number)
CMOS memory anticipation OG file
fault. Data indicates file number. • Initialize anticipation OG file (customer maintenance).
• Load the file saved on a floppy disk and recover it.
Many operation commands are set continuously.
TROUBLESHOOTING
SK16 Dual MRC Instructions 5-46
MOTOMANTable 5-5 List of Alarm Messages - continued ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
No return step upon re-paint function after emergent stop.
After alarm reset, execute operation again.
7620
OT file is set"-."
1: OT output ;number error.
2: OG output number error.
After alarm reset, set correct number.
7630 IMPOSSIBLE TO DISCONNECT SERVO
The axis that makes servo disconnect is specified.
After alarm reset, do the correct operation.
7640 CONVEYOR QUEUE
OVERFLOW
Conveyor origin SL went on without using all 6 conveyor queues.
• In addition to piece under sync., pieces passed conveyor origin LS add up to more than 6.
• Conveyor origin LS worked improperly.
• Check pieces and keep number of them at 6 or less.
• Check LS (chattering).
7650 7651
NO CONVEYOR QUEUE DATA
• CVQUE command was executed without using all conveyor queues.
• Conveyor queue clear signal was sent.
Change the timing for CVQUE command and/or conveyor queue clear signal.
7660 7661 7662
MPCT FUNCTION NOT SPECIFIED
MPCT function is used without setting "conveyor queue use permission" in conveyor cond. data file.
Set "conveyor queue use permission" ("1") and then use MPCT function.
7670 7671 7672
CONVSFT ERROR (Decimal Data)
Arithmetic error occurred upon CONVSFT command execution.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7720 7721
CANNOT EXECUTE CALIBRATION
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7730 7731 7732
PG ON ERROR (AXIS)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
长沙工控帮教育科技有限公司
ALARM
CODE MESSAGE CAUSE REMEDIAL
ACTION
7740 7741 7742
PG OFF ERROR (AXIS)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7750 7751 7752
SERVO GUN CHANGE ERROR
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7760 7761 7762
SERVO GUN INSTALLATION ERROR
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
7770 FAULT (SERVO GUN STROKE FIKE) (Decimal Data)
For maintenance alarm code, contact MOTOMAN Customer Service at (937) 847-3200.
长沙工控帮教育科技有限公司
长沙工控帮教育科技有限公司
DIAGRAMS
6.1 Power Flow
M
(CAN BE SEPARATED BY OPTION)
5VDC, 24VDC
DIAGRAMS
SK16 Dual MRC Instructions 6-2
MOTOMAN6.2 Signal Flow
E-STOP
E-STOP
MRY01B-2* MIO04* MEW02* START
HOLD
CN1 MBB02 CN2
CN5
(CAN BE SEPARATED BY OPTION)
POWER OFF EDIT LOCK (OPTION)
* Provided as standard boards.
Expansion**
**Expansion slots provide for additional I/O.
MRU02
MTU02 R2
Figure 6-2 Signal Flow
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EXTERNAL
Switching jig is made by providing a jumper for con-nector, as