Used Robots.com: Motoman MRCII Alarm and Error Codes

Alarmlist - MRCII Page: 27 Alarmcodes MOTOMAN
ROBOTICS
AB 4630 VARIABLE DATA
TYPE ERROR [DECIMAL DATA] w Detected data was not of the defined variable types
B,I,D,R,P,BP, or EX. d7:1 d6:1 d5:1 d4:1
d3:* d2:* d1:* d0:* d0 to d3:
0000: B variable
0001: I variable
0010: D variable
0011: R variable
0100: P variable
0101: BP variable
0110: EX variable d4: No-display
d5: Local variable
d6: Array variable
d7: Variable designation w After alarm reset, execute the operation again. w Turn OFF the power and turn it ON again. w If the alarm occurs again, an inspection is required at the
MOTOMAN SERVICE. Report
the phenomenon, alarm num-
ber, and decimal data to
MOTOMAN SERVICE. 4640 OVER VARIABLE NO. [DECIMAL DATA] w Exceeds the numerical value range of the vari-
ables in the place where
the data is stored. w Select the variable so as not to exceed the
numerical value range. 4650 DEFECTIVE TAUGHT
POINT (CIRC) w A line connecting three cir- cular points is linea r. w After alarm reset, provide another instruction. 4660 WEAVING CONTROL
ERROR [DECIMAL DATA] w A control error occurred      during path calculations for
     weaving control.
4: The weaving swing speed      is designated as a time but
     the set moving time is less
     than zero.
5: The weaving swing speed      is designated as a fre-
     quency but the set fre-
     quency is less than zero.
7: The horizontal or vertical      distance is zero for triangu-
     lar oscillation or L-shaped
     weaving.
9: The distance between the      p pointand control point is
     less than zero for wrist
     weaving.
Others: Defective motion unit control 4: Set moving time in the weav- ing file to 0.1 s min. 5: Set frequency in the weaving file to 0.1 Hz min. 6: Set the weaving stop time to a positive value. 7: Set both the horizontal and vertical distance to 1 mm min. w If the alarm occurs again or the decimal data differs from
the above values, an inspec-
tion is required at MOTOMAN
SERVICE. Report the phe-
nomenon and alarm number
to MOTOMAN SERVICE. 4670 OVERRUN IN ROBOT
AXIS w Either robot overrun limit switch operates. w Refer to the releasing method at overrun. 4671 OVERRUN IN
EXTERNAL AXIS w Either station overrun limit switch operates. w Refer to the releasing method at overrun. Alarm code Message Cause Remedial Action


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