Used Robots.com: Motoman MRC Alarm and Error Codes

Alarm and Error list Page: 21 Alarm codes MOTOMAN
ROBOTICS
AB 4150
4151
4152 Group axis control error [Decimal Data] w A fault occured at the inter- nal control check. w After alarm reset, execute the operation again. w For maintenance alarm code, contact your
MOTOMAN repres. 4160
4161
4162 Two steps same posi-
tion
(CIRC) w Two or more of the three instructed points are the
same. w After alarm reset, program in three different
points. 4170
4171
4172 Two steps same posi-
tion
(SPLINE) w Two or more of the three instructed points are the
same. w After alarm reset, program in three different
points. 4180
4181
4182 Two steps same posi-
tion (3 STEPS) w Two or more of the three instructed points are the
same.
(Data such as
calibration between user
coordinate and robot). w After alarm reset, program in three different
points. 4190
4191
4192 Two steps same posi-
tion
(WEAV) w Weaving reference point and wall point are same. w After alarm reset, program in three different
points. 4200
4201
4202 Teach error (SPLINE) w Distance between instructed points is not correct. w Provide instructions so that the distance between the instruc-
tion points will be correct. 4210
4211
4212 Impossible linear
motion (L/U) w Operation disabled if the forms of axes L and U differ
at the starting and ending
points in interpolation
(except MOVJ). w Set the forms of axes L and U and provide a new instruction. 4220
4221
4222 Impossible linear
motion (S/L) w Operation disabled if the forms of axes S and L differ
at the starting and ending
points in interpolation
(except MOVJ). w Set the forms of axes S and L and provide a new instruction. 4230
4231
4232 Excessive
segment
(Low Speed) [Axis Data] w The specified speed exceeds the motor rated r/
min. w After alarm reset, decrease the speed of the step (move com-
mand) where the alarm
occured or change the robot
position. Alarm code Message Cause Remedial Action


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