Alarm List - E1102000106GB02

DX100 controller
Service Manual
Alarm List
Level 0 (Major alarm) Alarm code 0000
Level 1 to 3 (Major alarm) Alarm code 1000
Level 4 to 8 (Minor alarm) Alarm code 4000
- Please read these instructions before operation and keep them for
later reference.
- The operating instructions are only for internal use.
E1102000106GB02
DX100 controller
Reference list:
List of modifications
Document Creation Modification in the original document
number of original
document In section On page Date Author
E1102000106GB01 X 09.06.2010 WOE
new Logo and new

E1102000106GB02 Color; new Frontsite 06.07.2010 WOE
and Backsite
E1102000106GB02
DX100 controller
Table of contents
1 Alarm ............................................................................................................ 16
1.1 Outline of alarm ........................................................................................................ 16
2 Alarm Display .............................................................................................. 17
2.1 Displaying and releasing alarm ................................................................................ 17
2.1.1 Releasing alarms ................................................................................................................... 17
2.2 Special alarm display ............................................................................................... 18
2.2.1 Sub Data ................................................................................................................................ 18
2.2.2 Multiple SERVOPACK system............................................................................................... 19
2.2.3 Independent control function (optional) ................................................................................. 19
3 Alarm series 0000........................................................................................ 20

3.0.1 CPU Communication Error .................................................................................................... 20
3.0.2 Communication Error (SERVO) ............................................................................................. 26
3.0.3 ROM Error ............................................................................................................................. 30
3.0.4 Communication Error (I/O Module) ........................................................................................ 32
3.0.5 Communication Error (EAXA#1) ............................................................................................ 42
3.0.9 Communication Error (EAXA5) .............................................................................................. 47
3.0.13 Memory Error (Parameter File) .............................................................................................. 52
3.0.14 Memory Error (System Config-Data) ..................................................................................... 56
3.0.15 Memory Error (JOB MNG Data)............................................................................................. 57
3.0.16 Memory Error (Ladder PRG File)........................................................................................... 58
3.0.17 Memory Error (Devicenet Alloc FL)........................................................................................ 59
3.0.18 Memory Error (CF BACKUP FILE) ........................................................................................ 60
3.0.19 Memory Error (Network Setup) .............................................................................................. 60
3.0.20 Verify Error (System Config-Data) ......................................................................................... 61
3.0.21 Verify Error (Cmos Memory Size) .......................................................................................... 62
3.0.22 Verify Error (/I/O Module)....................................................................................................... 63
3.0.23 Verify Error (Application)........................................................................................................ 73
3.0.24 Verify Error (DeviceNet Alloc Fl) ............................................................................................ 73
3.0.25 Verify Error (Spot Welder I/F) ................................................................................................ 76
3.0.26 Verify Error (Segment Clock) ................................................................................................. 76
3.0.27 Parameter Transmission Error............................................................................................... 77
3.0.28 Mode Change Error ............................................................................................................... 80
3.0.29 DeviceNet Alloc FL Transmit Error ........................................................................................ 85
3.0.30 Segment Proc Not Ready ...................................................................................................... 86
3.0.31 Software Version Unmatch .................................................................................................... 86
3.0.32 Axis Limit Over....................................................................................................................... 87
3.0.33 Medar Status Error ................................................................................................................ 87
3.0.34 Medar Diadnosis Error ........................................................................................................... 87
3.0.35 Medar Version Error .............................................................................................................. 88
3.0.36 Medar Revision Error ............................................................................................................. 88
3.0.37 Medar Version Error .............................................................................................................. 88
3.0.38 Medar Schedule Transmit Error............................................................................................. 88
3.0.39 Medar Error 1......................................................................................................................... 89
3.0.40 Medar Error 2......................................................................................................................... 89
3.0.41 Medar Error 2......................................................................................................................... 89
3.0.42 Medar Parameter Error .......................................................................................................... 89
3.0.43 Medar Stepper Transmit Error ............................................................................................... 90
3.0.44 Ladder Initialize Error............................................................................................................. 90
3.0.45 Ladder Program Error ............................................................................................................ 90
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Table of contents
3.0.46 File Backup Error (YCP01 CF) .............................................................................................. 98
3.0.47 File Load Error (YCP01 CF) .................................................................................................. 98
3.0.48 File I/O Error (YCP01 CF) ..................................................................................................... 99
3.0.49 File Error................................................................................................................................ 99
3.0.50 Toyopuc Alloc Def Error ...................................................................................................... 100
3.0.51 Watchdog Timer Error (YIF Board)...................................................................................... 105
3.0.52 Watchdog Timer Error (YCP02#1) ...................................................................................... 105
3.0.60 CPU Error (YCP01) ............................................................................................................. 108
3.0.61 CPU Error (YCP02#1) ......................................................................................................... 108
3.0.62 CPU Error (YCP02#2) ......................................................................................................... 109
3.0.63 CPU Error (YCP02#3) ......................................................................................................... 109
3.0.64 CPU Error (YCP02#4) ......................................................................................................... 109
3.0.65 CPU Error (YCP02#5) ......................................................................................................... 110
3.0.66 CPU Error (YCP02#6) ......................................................................................................... 110
3.0.67 CPU Error (YCP02#7) ......................................................................................................... 110
3.0.68 CPU Error (YCP02#8) ......................................................................................................... 111
3.0.69 Bus Error (YCP01)............................................................................................................... 111
3.0.70 CPU Error (EAXA#1) ........................................................................................................... 111
3.0.71 CPU Error (EAXA#2) ........................................................................................................... 112
3.0.72 CPU Error (EAXA#3) ........................................................................................................... 112
3.0.73 CPU Error (EAXA#4) ........................................................................................................... 113
3.0.74 CPU Error (EAXA#5) ........................................................................................................... 114
3.0.75 CPU Error (EAXA#6) ........................................................................................................... 114
3.0.76 CPU Error (EAXA#7) ........................................................................................................... 115
3.0.77 CPU Error (EAXA#8) ........................................................................................................... 115
4 Alarm series 1000...................................................................................... 116

4.0.1 ROM ERROR (YCP01) ....................................................................................................... 116
4.0.2 ROM ERROR (EAXA01) ..................................................................................................... 116
4.0.3 ROM Error (YCP02) ............................................................................................................ 117
4.0.4 MEMORY ERROR (PARAMETER FILE) ........................................................................... 117
4.0.5 MEMORY ERROR (MOTION1).......................................................................................... 122
4.0.6 SET-UP PROCESS ERROR (SYSCON) ............................................................................ 128
4.0.7 SET-UP PROCESS ERROR (MOTION) ............................................................................. 129
4.0.8 SYSTEM ERROR (EVENT) ............................................................................................... 132
4.0.9 SYSTEM ERROR (MAN-MACHINE MECHA).................................................................... 132
4.0.10 SYSTEM ERROR (MAN-MACHINE APPLI) ...................................................................... 132
4.0.11 SYSTEM ERROR (EVENT) ............................................................................................... 133
4.0.12 SYSTEM ERROR (CIO) ...................................................................................................... 133
4.0.13 SYSTEM ERROR (SERVO)................................................................................................ 134
4.0.14 SYSTEM ERROR (CONVEYOR)....................................................................................... 144
4.0.15 HIGH TEMPERATURE (IN CNTL BOX) ............................................................................. 144
4.0.16 COMMUNICATION ERROR (I/O MODULE)....................................................................... 144
4.0.17 EXTERNAL WDT BROKEN (YIF01) ................................................................................... 145
4.0.18 SAFETY CIRCUIT WDT ERROR (YIF01).......................................................................... 145
4.0.19 ANOTHER PLD EXT WDT ERROR (YIF01)...................................................................... 146
4.0.20 LAN COMMUNICATION PARAMETER ERROR ................................................................ 146
4.0.21 ETHERNET INITIAL PROCESS ERROR ........................................................................... 147
4.0.22 IP ADDRESS SET FAIL (DHCP)......................................................................................... 154
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4.0.23 SERVO CPU SYNCHRONIZING ERROR........................................................................... 155
4.0.24 COMMUNICATION ERROR (SERVO)................................................................................ 156
4.0.25 COMMUNICATION ERROR (SERVO I/O) .......................................................................... 158
4.0.26 ARITHMETIC ERROR(SERVO) .......................................................................................... 160
4.0.27 EX-AXIS BOARD NOT INSTALLED.................................................................................... 161
4.0.28 AMPLIFIER TYPE MISMATCH ........................................................................................... 161
4.0.29 ENCODER TYPE MISMATCH ............................................................................................ 162
4.0.30 CONVERTER TYPE MISMATCH........................................................................................ 162
4.0.31 HARDWARE ERROR (CONVERTER) ................................................................................ 163
4.0.32 CHARGE ERROR (CONVERTER)...................................................................................... 163
4.0.33 A/D DETECTION ERROR (CONVERTER) ......................................................................... 164
4.0.34 ID ERROR (CONVERTER) ................................................................................................. 164
4.0.35 COMMAND ERROR(SERVO) ............................................................................................. 164
4.0.36 VERIFY ERROR (PARAMETER) (SERVO) ........................................................................ 165
4.0.37 SERVOPACK ERROR(SERVO) ......................................................................................... 165
4.0.38 COMMUNICATION WDT ERROR (SERVO)...................................................................... 165
4.0.39 COMMAND TIMEOUT(SERVO).......................................................................................... 166
4.0.40 CANNOT EXECUTE COMMAND (SERVO)........................................................................ 166
4.0.41 SERIAL ENCODER MODULE ERROR............................................................................... 167
4.0.42 SERIAL ENCODER SENSOR ERROR ............................................................................... 167
4.0.43 BRAKE BOARD ERROR ..................................................................................................... 167
4.0.44 BRAKE BOARD STICKING ................................................................................................. 167
4.0.45 COMMUNICATION ERROR (ENCODER) .......................................................................... 168
4.0.46 DEFECTIVE ENCODER ABSOLUTE DATA ....................................................................... 168
4.0.47 ENCODER OVER SPEED .................................................................................................. 169
4.0.48 DEFECTIVE ENCODER...................................................................................................... 169
4.0.49 DEFECTIVE SERIAL ENCODER COMMAND .................................................................... 170
4.0.50 MICRO PROGRAM TRANSMIT ERROR ............................................................................ 170
4.0.51 CONVERTER CHARGE ERROR (CONVERTER) .............................................................. 171
4.0.52 POSITION ERROR.............................................................................................................. 171
4.0.53 POSITION ERROR (SERIAL ENCODER).......................................................................... 172
4.0.54 ENCODER NOT RESET ..................................................................................................... 172
4.0.55 OVER SPEED LIMIT .......................................................................................................... 173
4.0.56 SERVO OVERRUN ERROR ............................................................................................... 173
4.0.57 COMMUNICATION ERROR (CONVERTER)...................................................................... 174
4.0.58 SAFE CIRCUIT SIGNAL NOT SAME(SV)........................................................................... 177
4.0.59 POWER LOST DETECTION(EAXA01/02) .......................................................................... 178
4.0.60 CPU Error (YCP01) ............................................................................................................. 178
4.0.61 POWER ON UNIT TYPE MISMATCH ................................................................................. 178
4.0.62 SERIAL ENCODER CORRECTION ERROR ...................................................................... 179
4.0.63 SERIAL ENC MULTITURN LIMIT ERROR.......................................................................... 180
4.0.64 SPECIFIED AXIS ERROR................................................................................................... 180
4.0.65 PRESS ERROR................................................................................................................... 181
4.0.66 PA NOT INSTALLED ........................................................................................................... 181
4.0.67 ENCODER ERROR (CONVEYOR) ..................................................................................... 181
4.0.68 CANNOT CHANGE CONVEYOR MODE ............................................................................ 181
4.0.69 WORK IN/NOT DATA CNT. LMT. OVER ............................................................................ 182
4.0.70 WORK IN/NOT SHIFT DATA POS LMT.............................................................................. 182
4.0.71 WORK ID. DATA CNT. LMT. OVER.................................................................................... 182
4.0.72 WORK ID. SHIFT DATA POS LMT. .................................................................................... 182
4.0.73 START SHIFT DATA CNT. LMT. OVER ............................................................................. 183
4.0.74 START SHIFT DATA POS LMT. ......................................................................................... 183
4.0.75 SYSTEM ERROR (BENDING) ........................................................................................... 183
4.0.76 ENCODER ERROR (LNR SCALE)...................................................................................... 183
4.0.77 CANNOT CHANGE ENCODER INPUT............................................................................... 184
4.0.78 PRESS ENCODER ERROR................................................................................................ 184
4.0.79 PRESS DATA RECEIVING ERROR ................................................................................... 184
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4.0.80 PRESS ENCODER DATA ERROR..................................................................................... 184
4.0.81 SAFETY CIRCUIT FAULT(SERVO I/O).............................................................................. 185
4.0.82 SVMX RELAY STICKING (SERVO I/O)............................................................................. 185
4.0.83 CONTACTOR STICKING (SERVO I/O) ............................................................................. 185
4.0.84 SAFETY CIRCUIT IN FAULT(SV I/O) ................................................................................. 186
4.0.85 TUSON RELAY STICKING (SERVO I/O) ........................................................................... 186
4.0.86 BROKEN CONTACTOR FUSE(SERVO I/O) ...................................................................... 186
4.0.87 BROKEN S_ON FUSE(SERVO I/O) ................................................................................... 187
4.0.88 SAFETY CIRCUIT WDT ERROR (SV I/O).......................................................................... 187
4.0.89 EXTERNAL WDT OVER(SERVO I/O) ................................................................................ 187
4.0.90 EXTERNAL WDT BROKEN (SERVO I/O) .......................................................................... 188
4.0.91 COMMUNICATION ERR (PLDs)(SERVO I/O).................................................................... 188
4.0.92 POWER SUPPLY FAN ERROR (SERVO).......................................................................... 188
4.0.93 POWER SUPPLY OVERHEAT (SERVO) ........................................................................... 189
4.0.94 OVERHEAT (AMPLIFIER) .................................................................................................. 189
4.0.95 SON_OUT RELAY STICKING (SERVO I/O)....................................................................... 189
4.0.96 BRRCER RELAY STICKING (SERVO I/O)......................................................................... 190
4.0.97 ABSOLUTE DATA ERROR (SERVO2)............................................................................... 190
4.0.98 GATE ARRAY 1 ERROR (SERVO2) .................................................................................. 190
4.0.99 GATE ARRAY 2 ERROR (SERVO2) .................................................................................. 191
4.0.100 ABSOLUTE ENCODER ERROR (SERVO2) ...................................................................... 191
4.0.101 GROUND FAULT (SERVO2) ............................................................................................. 192
4.0.102 WATCHDOG DETECTOR ERROR (SERVO2) .................................................................. 192
4.0.103 CURRENT FB ERROR (U PHASE)( SV2) .......................................................................... 192
4.0.104 CURRENT FB ERROR (V PHASE)(SV2) ........................................................................... 193
4.0.105 INCR ENCODER INIT PULSE ERR(SV2) .......................................................................... 193
4.0.106 SERVO ON COMMAND INVALID (SERVO2)..................................................................... 194
4.0.107 VIBRATION DETECT (SERVO2)........................................................................................ 194
4.0.108 FC SERIAL ENCODER SUM ERROR(SV2)....................................................................... 194
4.0.109 FC SERIAL ENCODER DATA ERR(SV2)........................................................................... 195
4.0.110 MODULE ERROR (SERVO2) ............................................................................................. 195
4.0.111 FC SERIAL ENCODE SCALE ERR(SV2) ........................................................................... 195
4.0.112 FC SERIAL CONVERT COMM ERR(SV2) ......................................................................... 196
4.0.113 COMMUNICATION SET ERR (ML2)(SV2) ......................................................................... 196
4.0.114 CURRENT FEEDBACK ERROR......................................................................................... 196
4.0.115 MEMORY ERROR (PARAMETER) (SERVO2)................................................................. 197
4.0.116 PRIMARY CIRCUIT DETECT ERR (SV2) .......................................................................... 197
4.0.117 PARAMETER ERROR (SERVO2) ...................................................................................... 197
4.0.118 COMBINATION ERROR (SERVO2) ................................................................................... 198
4.0.119 OVERCURRENT (SERVO2).............................................................................................. 198
4.0.120 ENCODER BACK-UP ERROR (SERVO2)........................................................................ 199
4.0.121 DEFECTIVE ENCODER IN-DATA(SV2)............................................................................. 199
4.0.122 DEFECTIVE ENCODER ABSO DATA(SV2)....................................................................... 200
4.0.123 ENCODER OVER SPEED (SERVO2) ............................................................................... 200
4.0.124 GATE ARRAY ERROR (SERVO2) ..................................................................................... 201
4.0.125 SYSTEM ERROR (SERVO2)............................................................................................. 201
4.0.126 BROKEN PG LINE (A/B PHASE)(SV2)............................................................................... 201
4.0.127 BROKEN PG LINE (C PHASE)(SV2).................................................................................. 202
4.0.128 MULTITURN LIMIT SET ERROR(SV2) .............................................................................. 202
4.0.129 COMMUNICATION ERR (ENCODER)(SV2) ...................................................................... 203
4.0.130 PARAMETER ERROR (ENCODER) (SERVO2)................................................................ 203
4.0.131 ECHOBACK ERROR (ENCODER) (SERVO2) .................................................................. 204
4.0.132 MULTITURN LIMIT NOT SAME (SERVO2)....................................................................... 204
4.0.133 OPTION NOT SPECIFIED (SERVO2) ............................................................................... 205
4.0.134 OPTION TIMEOUT (SERVO2)........................................................................................... 205
4.0.135 OPTION WDC ERROR (SERVO2) ..................................................................................... 205
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4.0.136 COMMUNICATION WDT ERROR (SERVO2)..................................................................... 205
4.0.137 COMMUNICATION ERROR (SERVO2).............................................................................. 206
4.0.138 SERVOPACK BROKEN (SERVO2) .................................................................................... 206
4.0.139 INITIAL ACCESS ERROR (SERVO2) ................................................................................. 206
4.0.140 SERVOPACK WDC EROOR (SERVO2)............................................................................. 207
4.0.141 COMMAND NOT EXECUTE (SERVO2) ............................................................................ 207
4.0.142 MAIN CIRCUIT ANSWER ERROR(SV2.............................................................................. 207
4.0.143 SERVO MOTOR DISCONNECTION (SV2)......................................................................... 207
4.0.144 SERVO MOTOR DISCONNECTION 2(SV2)....................................................................... 208
4.0.145 OPTION I/F ERROR (SERVO2) .......................................................................................... 208
4.0.146 NS600 ERROR (SERVO2) .................................................................................................. 209
4.0.147 CURRENT DETECTION ERROR (SERVO2)...................................................................... 209
4.0.148 PHASE DETECTION ERROR (SERVO2) ........................................................................... 209
4.0.149 POLE DETECTION ERROR (SERVO2).............................................................................. 210
4.0.150 MOTOR LOAD POSITION ERROR (SV2............................................................................ 210
4.0.151 EXCEEDED POSITION DATA (SERVO2) .......................................................................... 210
4.0.152 SCALE PITCH SETTING ERROR(SV2).............................................................................. 210
4.0.153 DIVIDING RATIO SETTING ERROR(SV2) ......................................................................... 211
4.0.154 ENCODER MODEL UNMATCH (SERVO2) ....................................................................... 211
4.0.155 MC POWER SUPPLY WIRING ERR(SV2) ......................................................................... 211
4.0.156 LINEAR MOTOR MAX SPEED SET(SV2) .......................................................................... 212
4.0.157 MONITOR PLD ERROR 1 (SERVO I/O) ........................................................................... 212
4.0.160 FILE TRANSFER DATA ERROR (SV) ................................................................................ 213
4.0.161 FILE TRANSFER DATA SIZE ERR (SV)............................................................................. 214
4.0.162 DB ON ERROR (SERVO) ................................................................................................... 214
4.0.163 BASE BLOCK SIGNAL ERROR(SERVO) ........................................................................... 215
4.0.164 PG POWER ON MULTIPLE REQ (SV) ............................................................................... 215
4.0.165 CONVERTER COMMAND ERROR (SV) ............................................................................ 215
4.0.166 AXIS ENDLESS INFO NOT GENERATED(SV) .................................................................. 216
4.0.167 AXIS ENDLESS SPECIFIC. ERR(SV) ................................................................................ 216
4.0.168 REDUCTION STOP SPECIFIC. ERR(SV) .......................................................................... 217
4.0.169 MOTOR GUN CHANGE PG PWR ON ERR(SV) ................................................................ 218
4.0.170 MOTOR GUN CHANGE SV ON ERR(SV) .......................................................................... 218
4.0.171 MOTOR GUN COND. FILE NO. ERR(SV) .......................................................................... 218
4.0.172 MOTOR GUN PRESS FILE NO. ERR(SV).......................................................................... 218
4.0.173 WRONG MOTOR GUN PRESS AXIS (SV)......................................................................... 219
4.0.174 MICRO PRG EXECUTE TIME OVER(SV) .......................................................................... 219
4.0.175 MICRO PROGRAM SYNC. ERROR (SV) ........................................................................... 219
4.0.176 FILE RECEIVE INCOMPLETE (SERVO) ............................................................................ 220
4.0.177 RESOLUTION CONVERSE CONST ERR(SV) ................................................................... 220
4.0.178 CANNOT GENERATE GENERAL CMD (SV) ..................................................................... 220
4.0.179 GENERAL SERVO CMD CODE ERR (SV)......................................................................... 221
4.0.180 GENERAL SERVO SETTING ERROR (SV) ....................................................................... 221
4.0.181 GENERAL SV ALARM CODE ERROR (SV) ....................................................................... 221
4.0.182 GRP CHANGE PG POWER ON ERR (SV)......................................................................... 222
4.0.183 GRP CHANGE SERVO ON ERROR (SV)........................................................................... 222
4.0.184 CTRL LAW SWITCHING ORDER ERR (SV) ...................................................................... 222
4.0.185 ASE BLOCK READ SIGNAL ERR (SV) .............................................................................. 223
4.0.186 BASE BLOCK WRITE SIGNAL ERR (SV)........................................................................... 223
4.0.187 U.PROG. BB READ SIG INCONSIST(SV) .......................................................................... 223
4.0.188 MOTOR CMD POSITION ERROR (SV) ............................................................................. 224
4.0.189 EXTERNAL BRAKE FUSE BROWN(SV) ............................................................................ 224
4.0.190 GENERAL I/O FUSE BROWN(SV) ..................................................................................... 224
4.0.191 BRAKE POWER ERROR(SV) ............................................................................................. 224
4.0.192 EXTERNAL BRAKE POWER ERROR(SV) ......................................................................... 225
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4.0.193 INSTANT POWER FAILURE (TRQ)(SV) ............................................................................ 225
4.0.194 INSTANT POWER FAILURE (TIME)(SV) ........................................................................... 225
4.0.195 POS.DEVITATION SATURATING ERR(SV) ...................................................................... 225
4.0.196 M-SAFETY SYSTEM ERROR (CPU1)................................................................................ 226
4.0.197 SV M-SAFETY BROKEN LINE(CPU1) ............................................................................... 227
4.0.198 M-SAFETY INITIALIZE ERROR(CPU1).............................................................................. 227
4.0.199 M-SAFETY CPU ERROR(CPU1)........................................................................................ 227
4.0.200 M-SAFETY SELF CHECK ERROR (CPU1)........................................................................ 228
4.0.201 SV M-SAFETY NO COMMUNICATE (CPU1) ..................................................................... 228
4.0.202 SV M-SAFETY CRC ERROR(CPU1).................................................................................. 233
4.0.203 M-SAFETY SLAVE TIME OUT(CPU1)................................................................................ 233
4.0.204 M-SAFETY SLAVE UNDEFINED (CPU1)........................................................................... 234
4.0.205 M-SAFETY POWER VOLT ERROR(CPU2) ....................................................................... 235
4.0.206 M-SAFETY UNIT LINK ERROR(CPU1) .............................................................................. 236
4.0.207 M-SAFETY SYSTEM ERROR (CPU2................................................................................. 236
4.0.208 SV M-SAFETY BROKEN LINE(CPU2) ............................................................................... 237
4.0.209 M-SAFETY INITIALIZE ERROR(CPU2).............................................................................. 237
4.0.210 M-SAFETY CPU ERROR(CPU2)........................................................................................ 237
4.0.211 M-SAFETY SELF CHECK ERROR(CPU2)......................................................................... 238
4.0.212 SV M-SAFETY NO COMMUNICATE (CPU2) ..................................................................... 238
4.0.213 SV M-SAFETY CRC ERROR(CPU2).................................................................................. 243
4.0.214 M-SAFETY SLAVE TIME OUT(CPU2................................................................................. 243
4.0.215 M-SAFETY SLAVE UNDEFINED (CPU2)........................................................................... 244
4.0.216 M-SAFETY POWER VOLT ERROR(CPU1) ....................................................................... 245
4.0.217 M-SAFETY UNIT LINK ERROR (CPU2) ............................................................................. 246
4.0.218 EXTERNAL BRAKE POWER ERROR(SV)......................................................................... 246
5 Alarm series 4000...................................................................................... 248

5.0.1 MEMORY ERROR (TOOL FILE)........................................................................................ 248
5.0.2 MEMORY ERROR (USER COORD FILE) ......................................................................... 248
5.0.3 MEMORY ERROR (SV MON SIGNAL FILE) ..................................................................... 249
5.0.4 MEMORY ERROR (WEAVING FILE) ................................................................................ 249
5.0.5 MEMORY ERROR (HOME POS FILE) .............................................................................. 250
5.0.6 MEMORY ERROR (SECOND HOME POS) ...................................................................... 251
5.0.7 MEMORY ERROR (POWER SOURCE COND) ................................................................ 251
5.0.8 MEMORY ERR (ARC START COND FILE)........................................................................ 252
5.0.9 MEMORY ERROR (ARC END COND FILE)...................................................................... 252
5.0.10 MEMORY ERROR (ARC AUX COND FILE)...................................................................... 253
5.0.11 MEMORY ERROR (COM-ARC3 COND FILE).................................................................... 254
5.0.12 MEMORY ERROR (LINK SERVOFLOAT)......................................................................... 254
5.0.13 MEMORY ERROR (LINEAR SERVOFLOAT).................................................................... 255
5.0.14 MEMORY ERROR (ROBOT CALIB FILE) .......................................................................... 255
5.0.15 MEMORY ERROR (POWER SRC USER-DEF) ................................................................. 256
5.0.16 MEMORY ERR (LADDER PRG FILE) ................................................................................ 256
5.0.17 MEMORY ERROR (CUTTING COND FILE)....................................................................... 257
5.0.18 MEMORY ERROR (OPERATION ORIGIN) ........................................................................ 257
5.0.19 MEMORY ERROR (CONVEYOR COND FILE) .................................................................. 258
5.0.20 MEMORY ERROR (PAINT SPECIAL FILE)........................................................................ 258
5.0.21 MEMORY ERROR (PAINT COND FILE) ............................................................................ 259
5.0.22 MEMORY ERR(WRIST WEAV AMP FILE)......................................................................... 259
5.0.23 MEMORY ERROR (INTERRUPT JOB FILE)...................................................................... 260
5.0.24 MEMORY ERR (SENSOR MON COND FILE).................................................................... 260
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5.0.25 MEMORY ERR(PRESS COND DATA FILE)....................................................................... 261
5.0.26 MEMORY ERROR (SPOT GUN COND FILE) .................................................................... 261
5.0.27 MEMORY ERROR (SPOT WELDER COND)...................................................................... 262
5.0.28 MEMORY ERROR (GUN PRESSURE FILE) ...................................................................... 262
5.0.29 MEMORY ERROR (ANTICIPATION OT FILE).................................................................... 263
5.0.30 MEMORY ERR(ANTICIPATION OG FILE) ......................................................................... 263
5.0.31 MEMORY ERROR (WEARING FILE).................................................................................. 264
5.0.32 MEMORY ERROR (STROKE POSITION) .......................................................................... 264
5.0.33 MEMORY ERROR (PRESSURE FILE) ............................................................................... 265
5.0.34 MEMORY ERROR (FORM CUT FILE)................................................................................ 265
5.0.35 MEMORY ERROR (SHOCK LEVEL FILE).......................................................................... 266
5.0.36 MEMORY ERROR (SPOT IO ALLOCTE FL) ...................................................................... 267
5.0.37 MEMORY ERROR (VISION FILE)....................................................................................... 267
5.0.38 COMMUNICATION WDT ERROR (SERVO)...................................................................... 268
5.0.39 MEMORY ERROR (WELD PULSE COND)......................................................................... 268
5.0.40 MEMORY ERROR (WELD PULSE SELECT) ..................................................................... 269
5.0.41 MEMORY ERROR (CONVEYOR CALIB FILE)................................................................... 269
5.0.42 MEMORY ERROR (SERVO S-GUN FILE).......................................................................... 270
5.0.43 MEMORY ERROR (PASTE QUAN.COMP FL) ................................................................... 270
5.0.44 MEMORY ERROR (AXIS I/O ALLOC FILE) ........................................................................ 271
5.0.45 MEMORY ERROR (GUN COND. AUX. FILE)..................................................................... 271
5.0.46 MEMORY ERROR (TOOL INTERFERENCE)..................................................................... 272
5.0.47 MEMORY ERROR (PAINT SYS CONFIG.)......................................................................... 273
5.0.48 MEMORY ERROR (PAINTING SPECIAL) .......................................................................... 273
5.0.49 MEMORY ERROR (CCV-PAINT TABLE)............................................................................ 274
5.0.50 MEMORY ERROR (PLUG VOLUME FILE)......................................................................... 274
5.0.51 MEMORY ERROR (EVB GUN COND)................................................................................ 275
5.0.52 MEMORY ERROR (EVB TURBIN COND) .......................................................................... 275
5.0.53 MEMORY ERROR (EVB PAINT COND) ............................................................................. 276
5.0.54 MEMORY ERROR (CLEARANCE FILE)............................................................................. 276
5.0.55 MEMORY ERROR (GAUGE SENSOR FILE)...................................................................... 277
5.0.56 MEMORY ERROR (LNR SCALE FILE)............................................................................... 277
5.0.57 MEMORY ERROR (CONVEYOR COND SUPP.) ............................................................... 278
5.0.58 MEMORY ERROR (WEAV SYNC WELD FILE).................................................................. 278
5.0.59 MEMORY ERROR (I/F PANEL FILE).................................................................................. 279
5.0.60 MEMORY ERROR (PALLETIZE COND FILE) .................................................................... 279
5.0.61 MEMORY ERROR (LASER TRACKING START FILE)....................................................... 280
5.0.62 MEMORY ERROR (LASER TRACKING END FILE)........................................................... 281
5.0.63 MEMORY ERROR (LASER TRACKING TRACK START FILE) ......................................... 281
5.0.64 MEMORY ERROR (LASER TRACKING SET FILE) ........................................................... 282
5.0.65 MEMORY ERROR (LASER TRACKING TRACK SET FILE) .............................................. 282
5.0.66 MEMORY ERROR (CONDITION FILE OF CORRESPONDING TO LASER TRACKING GAP)
283
5.0.67 MEMORY ERROR (MEMORY PLAY FILE FOR LASER TRACKING DC) ......................... 283
5.0.68 DC 24V POWER SUPPLY FAILURE(YPS)......................................................................... 284
5.0.69 OVERRUN IN ROBOT AXIS ............................................................................................... 284
5.0.70 OVERRUN IN EXTERNAL AXIS ......................................................................................... 285
5.0.71 SYSTEM DATA HAS BEEN CHANGED ............................................................................. 285
5.0.72 PARALLEL START INSTRUCTION ERROR ...................................................................... 286
5.0.73 WRONG EXECUTION OF LOAD INST............................................................................... 287
5.0.74 WRONG EXECUTION OF SAVE INST ............................................................................... 287
5.0.75 WRONG EXECUTION OF DELETE INST........................................................................... 288
5.0.76 OUT OF RANGE (ABSO DATA) ........................................................................................ 288
5.0.77 DC 24V POWER SUPPLY FAILURE(I/O) ........................................................................... 288
5.0.78 SHOCK SENSOR ACTION ................................................................................................. 289
5.0.79 DATA SENDING ERROR .................................................................................................... 289
5.0.80 DATA RECEIVING ERROR ................................................................................................ 290
E1102000106GB02 7
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5.0.81 TRANSMISSION HARDWARE ERROR ............................................................................. 290
5.0.82 TRANSMISSION SYSTEM BLOCK .................................................................................... 291
5.0.83 TRANSMISSION SYSTEM ERROR ................................................................................... 292
5.0.84 FAN CIRCUIT PROTECTOR TRIPPED.............................................................................. 292
5.0.85 COOLING FAN1 ERROR.................................................................................................... 292
5.0.88 WRONG EXECUTION OF VISION INST ............................................................................ 294
5.0.89 TRANS ERROR (WELD PULSE COND) ............................................................................ 295
5.0.90 CANNOT EXECUTE AUTO PMT........................................................................................ 296
5.0.91 ARC MONITOR ERROR ..................................................................................................... 298
5.0.92 TWIN DRIVE OUT OF RANGE (START)........................................................................... 298
5.0.93 NETWORK APPLICATION PROCESS ERROR................................................................. 298
5.0.94 UDP PROCESS ERROR .................................................................................................... 305
5.0.95 TCP PROCESS ERROR..................................................................................................... 308
5.0.96 TOYOPUC RUN STOP ....................................................................................................... 309
5.0.97 TOYOPUC MAJOR ERROR ............................................................................................... 309
5.0.98 WRONG EXECUTION OF SETUALM INST ....................................................................... 310
5.0.99 WRONG EXECUTION OF SVON INST .............................................................................. 310
5.0.100 WRONG EXECUTION OF PRINT INST ............................................................................. 310
5.0.101 WRONG EXECUTION OF DIALOG INST........................................................................... 311
5.0.102 SNTP ERROR ..................................................................................................................... 311
5.0.103 SYSTEM ERROR (FILE DATA) ......................................................................................... 314
5.0.104 SYSTEM ERROR (JOB) .................................................................................................... 314
5.0.105 SYSTEM ERROR (JOB) ..................................................................................................... 323
5.0.106 SYSTEM ERROR (POSITION DATA.................................................................................. 330
5.0.107 SYSTEM ERROR (POSITION DATA)................................................................................. 337
5.0.108 SYSTEM ERROR (TRANSMISSION) ................................................................................. 341
5.0.109 SYSTEM ERROR (MOTION) .............................................................................................. 341
5.0.110 SYSTEM ERROR (ARITH).................................................................................................. 358
5.0.111 OFFLINE SYSTEM ERROR (ARITH) ................................................................................. 362
5.0.112 SYSTEM ERROR (LOCAL VARIABLE) .............................................................................. 364
5.0.113 SERVO POWER OFF FOR JOB......................................................................................... 365
5.0.114 SERVO POWER OFF FOR JOB......................................................................................... 365
5.0.115 MEMOPLAY FILE ERROR.................................................................................................. 366
5.0.116 OVER SPEED (YCP01) ..................................................................................................... 367
5.0.117 COMMUNICATION SERVICE ERROR............................................................................... 368
5.0.118 WRONG DATA.................................................................................................................... 369
5.0.119 ETHERNET PROCESS ERROR......................................................................................... 369
5.0.120 VERIFY ERROR (SERVO PARAMETER) .......................................................................... 373
5.0.121 CONTACTOR ERROR........................................................................................................ 374
5.0.122 BRAKE CIRCUIT ERROR................................................................................................... 374
5.0.123 CONVERTER READY SIGNAL ERROR ............................................................................ 375
5.0.124 CONVERTER INPUT POWER ERROR.............................................................................. 375
5.0.125 CONVERTER CIRCUIT CHARGE ERROR ........................................................................ 376
5.0.126 AMPLIFIER READY SIGNAL ERROR ................................................................................ 376
5.0.127 SERVO ON DEFECTIVE SPEED ....................................................................................... 377
5.0.128 VOLTAGE DROP (CONVERTER) ...................................................................................... 377
5.0.129 DEFECTIVE ENCODER INTERNAL DATA ........................................................................ 378
5.0.130 ENCODER OVERHEAT...................................................................................................... 378
5.0.131 ENCODER BACK-UP ERROR............................................................................................ 379
5.0.132 ENCODER BATTERY ERROR ........................................................................................... 380
5.0.133 COLLISION DETECT .......................................................................................................... 380
5.0.134 PRESSURE DATA LIMIT .................................................................................................... 381
5.0.135 PRELOAD ERROR ............................................................................................................. 381
5.0.136 SERIAL ENCODER CORRECTION LIMIT ......................................................................... 382
8 E1102000106GB02
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Table of contents
5.0.137 OVERLOAD (CONTINUE)................................................................................................... 382
5.0.138 OVERLOAD (MOMENT) ..................................................................................................... 383
5.0.139 AMPLIFIER OVERLOAD (CONTINUE)............................................................................... 384
5.0.140 AMPLIFIER OVERLOAD (MOMENT).................................................................................. 385
5.0.141 CONVERTER OVERLOAD ................................................................................................. 385
5.0.142 OVER SPEED ..................................................................................................................... 386
5.0.143 WRONG MOTOR ROTATION............................................................................................. 386
5.0.144 SERVO TRACKING ERROR............................................................................................... 387
5.0.145 POSITION ERROR.............................................................................................................. 387
5.0.146 BROKEN SPEED MONITOR LINE ..................................................................................... 388
5.0.147 SPEED MONITOR LEVEL ERROR .................................................................................... 389
5.0.148 POSITION ERROR (SERIAL ENCODER).......................................................................... 389
5.0.149 OVERVOLTAGE (CONVERTER)........................................................................................ 390
5.0.150 GROUND FAULT ................................................................................................................ 391
5.0.151 OPEN PHASE (CONVERTER) .......................................................................................... 392
5.0.152 OVER CURRENT (AMP) ..................................................................................................... 392
5.0.153 REGENERATIVE TROUBLE (CONVERTER)..................................................................... 393
5.0.154 INPUT POWER OVER VOLTAGE (CONV)......................................................................... 394
5.0.155 TEMPERATURE ERROR (CONVERTER).......................................................................... 394
5.0.156 LINEAR SERVOFLOAT TRACKING ERROR ..................................................................... 395
5.0.157 LNK SERVOFLOAT EXECUTE ERROR............................................................................. 395
5.0.158 LNK SERVOFLOAT TRQ LIMIT ERROR ............................................................................ 396
5.0.159 LNR SERVOFLOAT TRQ LIMIT ERROR............................................................................ 396
5.0.160 LNR SERVOFLOAT COORD TYPE ERROR...................................................................... 396
5.0.161 LNR SERVOFLOAT TOOL POSE ERROR......................................................................... 396
5.0.162 LNR SERVOFLOAT EXECUTE ERROR............................................................................. 397
5.0.163 DRIVE BELT SNAP DETECT.............................................................................................. 397
5.0.164 TWIN DRIVE OVER DEVIATION ........................................................................................ 397
5.0.165 DEFECTIVE TAUGHT POINT(ENDLESS).......................................................................... 397
5.0.166 FILE NO. ERROR (SHOCK LEVEL) ................................................................................... 398
5.0.167 EXTERNAL PRES DETECT (SERVOFLOAT) .................................................................... 398
5.0.168 ARM CTRL PARAMETER ERR(OBSERVER) .................................................................... 398
5.0.169 IMPOSSIBLE SRCH (EQUALIZE TEACH).......................................................................... 399
5.0.170 DUPLICATED PRESS ERROR ........................................................................................... 399
5.0.171 CONVERTER ERROR ........................................................................................................ 399
5.0.172 WAFER ALIGNMENT ERROR(SERVO) ............................................................................. 400
5.0.173 POWER SUPPLY READY ERROR(SERVO)...................................................................... 400
5.0.174 BASE BLOCK SIGNAL ERROR(SERVO) ........................................................................... 401
5.0.175 GUN SOFTLIMIT ................................................................................................................. 401
5.0.176 TOUCH DETECT DATA OVER ........................................................................................... 402
5.0.177 GUN BEND COMPENSATION SET ERROR...................................................................... 402
5.0.178 ROBOT POSE ERROR ....................................................................................................... 402
5.0.179 SYSTEM ERROR (SERVO) ................................................................................................ 402
5.0.180 SERVO ON SIGNAL ERROR.............................................................................................. 403
5.0.181 MAGNETIC POLE DETECTING ERROR............................................................................ 403
5.0.182 PHASE DATA UNMATCH ................................................................................................... 403
5.0.183 M-SAFETY PROCESS ERROR(CPU1) .............................................................................. 403
5.0.184 M-SAFETY ENABLE SW ERROR(CPU1)........................................................................... 404
5.0.185 M-SAFETY PROCESS ERROR(CPU2) .............................................................................. 404
5.0.186 M-SAFETY ENABLE SW ERROR(CPU2)........................................................................... 405
5.0.187 M-SAFETY SIGNAL ERROR(CPU1)................................................................................... 405
5.0.188 M-SAFETY INPUT CHECK ERROR(CPU1) ....................................................................... 415
5.0.189 M-SAFETY OUTPUT CHECK ERROR CPU1..................................................................... 417
5.0.190 M-SAFETY CONTACTOR STICK(CPU1)(2) ....................................................................... 419
5.0.191 M-SAFETY SERVO ON ERROR(CPU1)............................................................................. 421
5.0.192 M-SAFETY SIGNAL ERR(CPU2) ........................................................................................ 421
5.0.193 M-SAFETY INPUT CHECK ERROR(CPU2) ....................................................................... 430
E1102000106GB02 9
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5.0.194 M-SAFETY OUTPUT CHECK ERROR CPU2 .................................................................... 433
5.0.195 M-SAFETY CONTACTOR STICK(CPU2) ........................................................................... 435
5.0.196 M-SAFETY SERVO ON ERROR(CPU2) ............................................................................ 436
5.0.197 NOT READY (ARITH) ......................................................................................................... 437
5.0.198 SEQUENCE TASK CONTR ERROR .................................................................................. 438
5.0.199 UNDEFINED COMMAND (ARITH) ..................................................................................... 441
5.0.200 ARITHMETIC ERROR......................................................................................................... 442
5.0.201 GROUP AXIS CONTROL ERROR...................................................................................... 442
5.0.202 TWO STEPS SAME POSITION (CIRC).............................................................................. 443
5.0.203 TWO STEPS SAME POSITION (SPLINE)......................................................................... 444
5.0.204 TWO STEPS SAME POSITION (3 STEPS)........................................................................ 444
5.0.205 TWO STEPS SAME POSITION (WEAV) ............................................................................ 444
5.0.206 TEACH ERROR (SPLINE) .................................................................................................. 445
5.0.207 IMPOSSIBLE LINEAR MOTION(L/U) ................................................................................. 445
5.0.208 IMPOSSIBLE LINEAR MOTION(S/L).................................................................................. 445
5.0.209 EXCESSIVE SEGMENT (LOW/HIGH)................................................................................ 446
5.0.210 PULSE LIMIT (MIN./MAX.).................................................................................................. 446
5.0.211 CUBE LIMIT (MIN./MAX.).................................................................................................... 446
5.0.212 SPECIAL SOFTLIMIT (MIN./MAX.)..................................................................................... 447
5.0.213 MECHANICAL INTERFERENCE (MIN./MAX.) ................................................................... 447
5.0.214 SPECIAL MECHANICAL INTRF (MIN./MAX.) .................................................................... 447
5.0.215 PULSE MECHANICAL LIMIT(MIN./MAX.) .......................................................................... 447
5.0.216 SEGMENT CONTROL ERROR .......................................................................................... 448
5.0.217 WRONG SPECIFIED CONTROL GROUP.......................................................................... 449
5.0.218 CPU COMMUNICATION ERROR....................................................................................... 450
5.0.219 JHM ERROR ....................................................................................................................... 451
5.0.220 INSTRUCTION INTERPRETER ERROR............................................................................ 452
5.0.221 UNDEFINED GLOBAL VARIABLE...................................................................................... 455
5.0.222 UNDEFINED LOCAL-VARIABLE ........................................................................................ 456
5.0.223 LESS THAN 3 STEP (CIRCULAR) ..................................................................................... 457
5.0.224 LESS THAN 3 STEPS (SPLINE)......................................................................................... 457
5.0.225 UNDEFINED JOB................................................................................................................ 457
5.0.226 UNDEFINED LABEL ........................................................................................................... 457
5.0.227 UNDEFINED RETURN JOB................................................................................................ 458
5.0.228 LACK OF LOCAL-VARIABLE AREA................................................................................... 458
5.0.229 UNSUCCESSFUL FINE POSITIONING ............................................................................. 458
5.0.230 DATA PRESET ERROR...................................................................................................... 459
5.0.231 OVER VARIABLE LIMIT...................................................................................................... 459
5.0.232 DEFECTIVE TAUGHT POINT(CIRC) ................................................................................. 461
5.0.233 WEAVING CONTROL ERROR ........................................................................................... 462
5.0.234 UNMATCHED POSN VAR DATA TYPE ............................................................................. 463
5.0.235 FILE NO. ERROR................................................................................................................ 463
5.0.236 UNDEFINED REFERENCE POINT .................................................................................... 464
5.0.237 STACK MORE THAN 10 (JOB CALL)................................................................................. 465
5.0.238 OVER VARIABLE NO ......................................................................................................... 465
5.0.239 UNDEFINED POWER SOURCE COND. ............................................................................ 465
5.0.240 UNDEFINED ARC START COND FILE .............................................................................. 465
5.0.241 UNDEFINED ARC END COND FILE .................................................................................. 466
5.0.242 WRONG WELDER SELECTION......................................................................................... 466
5.0.243 EXCESSIVE INSTRUCTION EQUATION........................................................................... 466
5.0.244 ZERO DIVIDED OCCURRENCE ........................................................................................ 466
5.0.245 UNDEFINED AUTO-WELD RELEASE COND.................................................................... 467
5.0.246 UNDEFINED POSITION FOR ARC RETRY ....................................................................... 467
5.0.247 PARITY ERROR.................................................................................................................. 467
5.0.248 OVER BCD RANGE ............................................................................................................ 467
5.0.249 OVER BINARY RANGE (PARITY CHECK) ........................................................................ 468
10 E1102000106GB02
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Table of contents
5.0.250 OFFLINE UNDEFINED COMMAND (ARITH)...................................................................... 468
5.0.251 USER COORD STEP NOT ENOUGH................................................................................. 468
5.0.252 ROBOT CALIBRATION DATA ERROR............................................................................... 468
5.0.253 ROBOT CALIBRATION FRAME ERROR............................................................................ 470
5.0.254 ROBOT CARIB STEP NOT ENOUGH ................................................................................ 470
5.0.255 ROBOT CALIBRATION DATA ERROR............................................................................... 471
5.0.256 ARITHMETIC ERR (COMPACT RMT WELD)..................................................................... 471
5.0.257 ARITHMETIC ALARM RESET ERROR............................................................................... 472
5.0.258 WRONG CONTROL GROUP AXIS..................................................................................... 472
5.0.259 CANNOT EXECUTE JOB (NO ROBOT) ............................................................................. 472
5.0.260 CANNOT EDIT (EDIT LOCK JOB) ...................................................................................... 473
5.0.261 SELECT ERROR (APPLICATION)..................................................................................... 473
5.0.262 SELECT ERROR (SENSOR 1) ........................................................................................... 473
5.0.263 WRONG PORT NO. (ANALOG OUTPUT) .......................................................................... 474
5.0.264 WRONG SELECTION (SENSOR)....................................................................................... 474
5.0.265 PATH OVER ........................................................................................................................ 474
5.0.266 WRONG MECH PARAMETER FILE ................................................................................... 475
5.0.267 DEFECTIVE TAUGHT POINT(CUTTING)........................................................................... 475
5.0.268 DEFECTIVE TAUGHT POINT(ENDLESS).......................................................................... 475
5.0.269 CORRECTIONAL DIRECTION ERROR.............................................................................. 476
5.0.270 POSITION CORRECTION ERROR..................................................................................... 477
5.0.271 OVER TOOL FILE NO. ........................................................................................................ 477
5.0.272 DEFECTIVE TAUGHT POINT(WEAV) ................................................................................ 478
5.0.273 UNDEFINED ROBOT CALIBRATION ................................................................................. 478
5.0.274 PARAMETER ERROR ........................................................................................................ 478
5.0.275 DEFECTIVE TAUGHT POINT(CALIB) ................................................................................ 486
5.0.276 CANNOT EXECUTE JOB (NO GRP AXIS) ......................................................................... 487
5.0.277 UNDEFINED POSITION VARIABLE ................................................................................... 487
5.0.278 UNDEFINED USER FRAME ............................................................................................... 487
5.0.279 OUT OF RANGE (PARALLEL PROCESS) ........................................................................ 487
5.0.280 SL BOARD ON-LINE ERROR ............................................................................................. 488
5.0.281 UNDEFINED POSITION FOR ARC ON .............................................................................. 488
5.0.282 UNDEFINED POS FOR RESTART RETURN ..................................................................... 488
5.0.283 REFP POS ERROR (SEARCH MOTION) ........................................................................... 489
5.0.284 SPECIFIED ERROR (COORDINATE)................................................................................. 489
5.0.285 MFRAME ERROR ............................................................................................................... 491
5.0.286 CANNOT EXECUTE INST RUCTION (SQRT).................................................................... 491
5.0.287 OUT OF RANGE (DROP-VALUE)...................................................................................... 491
5.0.288 TWO STEPS SAME LINE (3 STEPS) ................................................................................ 492
5.0.289 EXCESSIVE SEGMENT (SAFETY 1): LOW/HIGH ............................................................. 492
5.0.290 EXCESSIVE SEGMENT (SAFETY 2): LOW/HIGH ............................................................. 492
5.0.291 SEARCH MONITOR SET ERROR (SERVO) ...................................................................... 493
5.0.292 SEARCH MON RELEASE ERR (SERVO) .......................................................................... 493
5.0.293 AXIS BLOCKING ................................................................................................................. 493
5.0.294 WRONG JOB TYPE ............................................................................................................ 494
5.0.295 TAG DATA CHANGE PROCESS ERROR .......................................................................... 494
5.0.296 CANNOT EXECUTE INST (COUCUR JOB) ....................................................................... 495
5.0.297 UNDEFINED PORT NO.(AOUT) ......................................................................................... 495
5.0.298 SYNTAX ERROR ................................................................................................................ 496
5.0.299 TWIN COORDINATED ERROR .......................................................................................... 496
5.0.300 CONVEYOR TRACKING ERROR....................................................................................... 497
5.0.301 UNDEFINED CONVEYOR COND FILE .............................................................................. 498
5.0.302 CONVEYOR SPEED DOWN............................................................................................... 498
5.0.303 ARITHMETIC ERROR (CV TRACKING) ............................................................................. 498
5.0.304 TORQUE INTERFERENCE ................................................................................................ 499
5.0.305 TARGET VARIABLE TYPE UNMATCHED ......................................................................... 499
5.0.306 CORNER R CONTROL ERROR ......................................................................................... 500
E1102000106GB02 11
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Table of contents
5.0.307 JOB QUE EMPTY ERROR ................................................................................................. 501
5.0.308 INVALID INPUT STRING(VAL) ........................................................................................... 501
5.0.309 MRESET ERROR................................................................................................................ 501
5.0.310 STACK LESS THAN 0 (JOB CALL) .................................................................................... 502
5.0.311 MID$ INST ERROR............................................................................................................. 502
5.0.312 CANNOT EXCUTE SYSTEM JOB ...................................................................................... 502
5.0.313 PRIMITIVE ERROR............................................................................................................. 503
5.0.314 CANNOT OPERATE SPECIFIED EVENT .......................................................................... 503
5.0.315 NOT EXECUTION OF INIEVNT.......................................................................................... 503
5.0.316 CANNOT EXECUTE INST (USER JOB)............................................................................. 503
5.0.317 CANNOT MEASURE TIP INSTALL COEF ......................................................................... 504
5.0.318 SOFTWARE UNMATCH ..................................................................................................... 504
5.0.319 USER FRAME MAKING ERROR........................................................................................ 506
5.0.320 CANNOT MONITOR DISTANCE ........................................................................................ 507
5.0.321 UNDEFINED PRESS COND DATA FILE............................................................................ 507
5.0.322 UNDEFINED PRESS RESOLUTION DATA ....................................................................... 507
5.0.323 SERVO FLOAT MODE RELEASE ERROR ........................................................................ 507
5.0.324 NO SERVO GUN CONTROL GROUP................................................................................ 508
5.0.325 SPOT WELDER NO. ERROR ............................................................................................. 508
5.0.326 SPOT WELD COMPLETE TIME LIMIT............................................................................... 508
5.0.327 ERROR IN WELD START TIMING SET ............................................................................. 508
5.0.328 ERROR IN MOTOR GUN CONT MODE............................................................................. 509
5.0.329 ERROR IN MOTOR GUN MODE RELEASE ...................................................................... 509
5.0.330 SPOT WELD ERROR ......................................................................................................... 509
5.0.331 ANTICIPATION CONTROL ERROR................................................................................... 509
5.0.332 ANTICIPATION DISTANCE NOT ENOUGH....................................................................... 510
5.0.333 DEFECTIVE ANTICIPATION OT FILE................................................................................ 510
5.0.334 CANNOT EXECUTE GUN TYPE ........................................................................................ 510
5.0.335 STRWAIT TIME LIMIT......................................................................................................... 511
5.0.336 SERVO PG ON ERROR ..................................................................................................... 511
5.0.337 MOTOR GUN CHANGE ERROR........................................................................................ 511
5.0.338 ABRASION BASIS POS UNSETTING ................................................................................ 512
5.0.339 NO SERVO HAND CONTROL GROUP.............................................................................. 513
5.0.340 SPEED CTRL MODE SET ERR(SERVO)........................................................................... 513
5.0.341 SPEED CTRL MODE CANCEL ERR(SV)........................................................................... 513
5.0.342 SVHAND CTRL MODE SET ERR(SERVO)........................................................................ 514
5.0.343 SVHND CTRL MODE CANCEL ERR(SV) .......................................................................... 514
5.0.344 CAN'T DO FIXED FORM CUT MOTION............................................................................. 514
5.0.345 FORMCUT ERROR............................................................................................................. 517
5.0.346 OFFLINE POSITION DATA CONVERT ERROR ................................................................ 517
5.0.347 PAINTOUT ERROR ............................................................................................................ 520
5.0.348 SERVO COMMAND ERROR .............................................................................................. 520
5.0.349 WIRE STICKING ................................................................................................................. 521
5.0.350 SPECIFIED ERR(ABSO RECOVER AXIS)......................................................................... 521
5.0.351 SETTOOL ERROR.............................................................................................................. 521
5.0.352 LACK OF GLOBAL VARIABLE AREA ................................................................................ 521
5.0.353 WRONG EXECUTION OF MACRO INST........................................................................... 522
5.0.354 WRONG EXECUTION OF GETARG INST ......................................................................... 522
5.0.355 MEMOPLAY ERROR .......................................................................................................... 523
5.0.356 MEMOPLAY SAMPLING ERROR....................................................................................... 523
5.0.357 OVER OPTON INST EXECUTION LIMIT ........................................................................... 525
5.0.358 TSYNC ERROR .................................................................................................................. 526
5.0.359 SERVO SEALER GUN CONTROL ERROR ....................................................................... 526
5.0.360 UNDEFINED SEALERGUN COND FILE ............................................................................ 527
5.0.361 I/O AXIS OPERATING ........................................................................................................ 527
5.0.362 AXIS SHIFT ERROR ........................................................................................................... 527
12 E1102000106GB02
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Table of contents
5.0.363 S/U IMPOSSIBLE MOVE (L/R POS) ................................................................................... 528
5.0.364 SHIFT INST EXECUTE ERROR ......................................................................................... 528
5.0.365 UNDEFINED JOB ENTRY TABLE ...................................................................................... 529
5.0.366 ARM (TOOL) INTERFERENCE........................................................................................... 529
5.0.367 WELD COMPLETE SIGNAL ERROR.................................................................................. 529
5.0.368 SELF-INTERFERENCE....................................................................................................... 529
5.0.369 WRONG EXECUTION OF GETPOS INST.......................................................................... 530
5.0.370 PLUG VOLUME SETTING ERROR .................................................................................... 530
5.0.371 WRONG EXECUTION OF LOADDB INST.......................................................................... 530
5.0.372 IMPOSSIBLE S-AXIS MOV (IN SPHERE) .......................................................................... 534
5.0.373 GUN RECOGNITION SIGNAL OFF .................................................................................... 534
5.0.374 WRITE VARIABLE NO. MULTI SETTING ........................................................................... 535
5.0.375 GROUP CHANGE ERROR ................................................................................................. 535
5.0.376 DUPLICATED GUN NUMBER............................................................................................. 536
5.0.377 DEFECTIVE OPERATION VELOCITY................................................................................ 536
5.0.378 UNDEFINED LNR SCALE FILE .......................................................................................... 536
5.0.379 FOLLOWING ERROR ......................................................................................................... 536
5.0.380 FOLLOWING SPEED OVER ............................................................................................... 537
5.0.381 CANNOT EXECUTE COMMON JOB .................................................................................. 537
5.0.382 THICKNESS ERROR .......................................................................................................... 537
5.0.383 TRACK CHG WORK IN/NOT NOT FOUND ........................................................................ 537
5.0.384 TRACKING CHG WORK ID NOT FOUND .......................................................................... 538
5.0.385 SYMOVJ INST EXECUTE ERROR ..................................................................................... 538
5.0.386 WRONG EXECUTION OF PSTART INST .......................................................................... 538
5.0.387 CANNOT EXECUTE JOB (SEPARATE GRP) .................................................................... 539
5.0.388 SPOT WELDER I/F ERROR(ASW) ..................................................................................... 539
5.0.389 NOT PERMIT FIXED-WEAV ON SWVON .......................................................................... 540
5.0.390 TRQ CLEAR ERROR .......................................................................................................... 540
5.0.391 PALLETIZING EXECUTE ERROR ...................................................................................... 540
5.0.392 TRQ MEASURE MODE SET ERROR (SV)......................................................................... 541
5.0.393 TRQ MEASURE MODE CANCEL ERR(SV) ....................................................................... 541
5.0.394 WRONG EXECUTION OF SETREG INST.......................................................................... 542
5.0.395 WRONG EXECUTION OF GETREG INST ......................................................................... 542
5.0.396 WRONG EXECUTION OF SETPRM INST.......................................................................... 542
5.0.397 WVADJ ERROR .................................................................................................................. 543
5.0.398 OVER SPEED LIMIT .......................................................................................................... 543
5.0.399 TIP DRESS WATCH CANCEL ERROR .............................................................................. 543
5.0.400 MEMORY ERROR (PRESS COND FILE) ........................................................................... 544
5.0.401 PRESS SYNC ERROR........................................................................................................ 544
5.0.402 PRESS SYNC MOTION ERROR ........................................................................................ 544
5.0.403 UNDEFINED WELD LENGTH CHECK FILE....................................................................... 545
5.0.404 INSUFFICIENT NUM OF SAMPLE DATA........................................................................... 545
5.0.405 SAMPLE BUFFER OVER FLOW ........................................................................................ 545
5.0.406 BASIC SPEED UNREACHED ............................................................................................. 545
5.0.407 MAX TRQ UNDETECTED ................................................................................................... 546
5.0.408 ERRSVCPU SIGNAL ERROR............................................................................................. 546
5.0.409 BROKEN FAN FUSE ........................................................................................................... 546
5.0.410 IMPOSSIBLE LINEAR MOTION.......................................................................................... 547
5.0.411 SAFETY UNIT COMMAND ERROR.................................................................................... 547
5.0.412 CUBE ARM INTERFERENCE ............................................................................................. 547
5.0.413 MOTION RANGE LIMIT INTERFERENCE.......................................................................... 548
5.0.414 AXIS MOTION RANGE LIMIT OVER(MIN./MAX.) .............................................................. 548
5.0.415 INTERPOLATION INVALID ................................................................................................. 548
5.0.416 WRITE ERROR(SAFETY) ................................................................................................... 548
5.0.417 DATA SETTING ERROR(SAFETY) .................................................................................... 549
5.0.418 OPERATION AREA MON. ERR 2(AXIS) ............................................................................ 549
5.0.419 OPERATION MODE ERROR(AXIS) ................................................................................... 549
E1102000106GB02 13
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5.0.420 OPERATION AREA MON. ERR 2(ROBOT) ....................................................................... 549
5.0.421 OPERATION MODE ERROR(ROBOT) .............................................................................. 550
5.0.422 OPERATION AREA SET ERR(SAFETY)............................................................................ 550
5.0.423 ENCODER BACKUP ERROR(SAFETY) ............................................................................ 550
5.0.424 READBACK PROC. ERROR(SAFETY) .............................................................................. 550
5.0.425 SPEED MONITOR ERROR 1(SAFETY) ............................................................................. 551
5.0.426 SPEED MONITOR ERROR 2(SAFETY) ............................................................................. 551
5.0.427 TURN TABLE CALIBRATION ERROR ............................................................................... 551
5.0.428 OFFLINE ARM BEND POS CONVERT ERROR ................................................................ 552
5.0.429 SHIFT VALUE MAKING ERROR ........................................................................................ 553
5.0.430 WDT ERROR (CONVERTER) ........................................................................................... 554
5.0.431 REGENERATIVE TROUBLE (SERVO2) ........................................................................... 554
5.0.432 REGENERATIVE OVERLOAD (SERVO2) ........................................................................ 555
5.0.433 OVERVOLTAGE (SERVO2) ............................................................................................... 555
5.0.434 VOLTAGE DROP (SERVO2) .............................................................................................. 556
5.0.435 OVER SPEED (SERVO2) .................................................................................................. 556
5.0.436 OVERLOAD (MOMENT) (SERVO2) .................................................................................. 557
5.0.437 OVERLOAD (CONTINUE) (SERVO2) ................................................................................ 557
5.0.438 DB OVERLOAD (SEVO2) ................................................................................................... 558
5.0.439 RESIST OVERLOAD (SERVO2)........................................................................................ 558
5.0.440 HEAT SINK OVERHEAT (SERVO2 .................................................................................... 558
5.0.441 ENCODER BATTERY ERROR (SERVO2) ......................................................................... 559
5.0.442 ENCODER OVERHEAT (SERVO2 ..................................................................................... 559
5.0.443 SPEED A/D ERROR (SERVO2) ......................................................................................... 559
5.0.444 TORQUE A/D ERROR (SERVO2 ....................................................................................... 560
5.0.445 WRONG MOTOR ROTATION (SERVO2) .......................................................................... 560
5.0.446 POSITION ERROR (SERVO2) ........................................................................................... 560
5.0.447 OPEN PHASE (SERVO2) ................................................................................................... 561
5.0.448 OVERLOAD WARNING (SERVO2) ................................................................................... 562
5.0.449 REGENERATIVE OVERLOAD WARN(SV2) ..................................................................... 562
5.0.450 MECHATROLINK DATA SET WARNING ........................................................................... 563
5.0.451 MECHATROLINK COMMAND WARNING.......................................................................... 563
5.0.452 MECHATROLINK2 COMMAND WARNING........................................................................ 563
5.0.453 VOLTAGE DROP WARING (SERVO2) .............................................................................. 564
5.0.454 BATTERY WARNING (SERVO2)........................................................................................ 564
5.0.455 MAIN POWER OFF (SERVO2)........................................................................................... 564
5.0.456 INCOMPLETE FINE POSITIONING (SV2) ......................................................................... 565
5.0.457 POSITION ERROR WARNING (SERVO2) ........................................................................ 565
5.0.458 MAGNETIC POLE DETECT ERROR(SV2) ........................................................................ 565
5.0.459 CUBE/AXIS INTERFERENCE ............................................................................................ 565
5.0.460 MOTION COMMAND CODE ERROR (SV)......................................................................... 566
5.0.461 CANNOT EXECUTE MOTION CMD (SV)........................................................................... 566
5.0.462 AVERAGING TIME CHANGE ERR (SV) ............................................................................ 566
5.0.463 AVERAGING TIME ERROR (SERVO)................................................................................ 567
5.0.464 POSITION LOOP GAIN ERROR (SV) ................................................................................ 567
5.0.465 MOTION COMMAND DATA ERROR (SV) ......................................................................... 567
5.0.466 PG POWER ON INCOMPLETE (SV).................................................................................. 568
5.0.467 SERVO ON MULTIPLE REQUEST (SV) ............................................................................ 568
5.0.468 ENCODER ALARM (SERVO) ............................................................................................. 568
5.0.469 GUN BEND MULTI CORRECT ERR (SV) .......................................................................... 569
5.0.470 MOTOR GUN POS. DIFF. OVER (SV) ............................................................................... 569
5.0.471 WRONG MOTOR GUN CHANGE AXIS (SV) ..................................................................... 569
5.0.472 WRONG MOTOR GUN FILE NO. (SERVO) ....................................................................... 569
5.0.473 ENCODER COUNTER DIFF. ERR(SV) .............................................................................. 570
5.0.474 REALTIME STATUS S/R ERROR (SV) .............................................................................. 570
5.0.475 AVERAGING DATA ERROR (SERVO)............................................................................... 570
14 E1102000106GB02
DX100 controller
Table of contents
5.0.476 AVERAGING SUM ERROR (SERVO)................................................................................. 571
5.0.477 AVERAGING STATUS ERR (SERVO)................................................................................ 571
5.0.478 HIGH RESOLUTION PRM UNDEFINED(SV) ..................................................................... 571
5.0.479 WRONG GRP CHANGE AXIS (SERVO) ............................................................................ 572
5.0.480 BELT SNAP DETECT PRM ERROR (SV)........................................................................... 572
5.0.481 SERIAL ENC OSCILL DETECTED (SV) ............................................................................. 572
5.0.482 BRAKE LOCK ERROR (SERVO) ........................................................................................ 573
5.0.483 BRAKE RELEASE ERROR (SERVO) ................................................................................. 573
5.0.484 CONST.SPD MEASURE MULTI REQ (SV) ........................................................................ 573
5.0.485 DIN SIGNAL SPECIFIC. ERROR (SV)................................................................................ 574
5.0.486 DB REGIST NOT INSTALLED(SV) ..................................................................................... 574
5.0.487 RATED CURRENTAND MAXIMUM CURRENT HIGH RESOLUTION PRM UNDEFINED
(SERVO) 574
5.0.488 CONVTR POWER ERR (FREQUENCY) (SV) .................................................................... 575
5.0.489 CONVTR POWER ERR(PEAK)(SV) ................................................................................... 575
5.0.490 CONVTR REGENERATE OVERLOAD (SV)....................................................................... 575
5.0.491 POSITION ERROR (COLLISION DETECT)........................................................................ 575
5.0.492 DESTINATION PULSE LIMIT.............................................................................................. 576
5.0.493 DEST PULSE MECHANICAL LIMIT.................................................................................... 576
5.0.494 DEST MECHANICAL INTRF ............................................................................................... 576
5.0.495 CONVTR POWER ERR (FREQUENCY) (SV) .................................................................... 576
5.0.496 DESTINATION SELF-INTERFERENCE.............................................................................. 577
E1102000106GB02 15
DX100 controller
1 Alarm
1.1 Outline of alarm

When an alarm of level 0 to 3 (major Alarm occurs, the servo power supply is
turned OFF.
Table 1 Alarm code classification

Alarm code Alarm level Alarm reset method
Level 0 (Major alarm) It is not possible to reset by

(Off line alarm: Initial "RESET" under the ALARM
diagnosis/ Hardware window or the system input signal
0 diagnosis alarm) (Alarm reset). Turn OFF the main
Service Manual power supply and correct the cause
E1102000076xx01 or of the alarm. Then turn ON the
higher main power supply again.
It is not possible to reset by

Level 1 to 3 (Major "RESET" under the ALARM
1 alarm) window or the system input signal
to Service Manual (Alarm reset). Turn OFF the main
3 E1102000077xx01 or power supply and correct the cause
higher of the alarm. Then turn ON the
main power supply again.
Level 4 to 8 (Minor
After correcting the cause, it is
4 alarm)
possible to reset by "RESET" under
to Service Manual
the ALARM window or the system
8 E1102000090xx01 or
input signal (Alarm reset).
higher
After correcting the cause for which

the system input signal for the
system or user alarm request turns
Level 9 (Minor alarm)
9 ON, it is possible to reset by
(I/O alarm)
"RESET" under the ALARM
window or the system input signal
(Alarm reset).
16 E1102000106GB02
DX100 controller
2 Alarm Display
2.1 Displaying and releasing alarm

If an alarm occurs during operation, the robot stops immediately and the
ALARM window appears on the programming pendant indicating that the ma-
chine was stopped by an alarm
JOB
Alarm
Alarm No. Alarm 4100 [1] Sub data

OVERRUN ( ROBOT)
Alarm 4321 [SLURBT]
Alarm OVERLOAD (MOMENT)
message 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 cur-
rently displayed on the viewing area.
The following operations are available in the alarm status: window change,
mode change, alarm reset, 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 selecting
{ALARM}.
2.1.1 Releasing 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 robot stops. Turn OFF the main power supply, remove the cause of the
alarm, and then turn ON the power supply again.
E1102000106GB02 17
DX100 controller
2.2 Special alarm display
2.2.1 Sub Data
Sub data such as data for the axis where the alarm occurred, may also be dis-
played 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.
18 E1102000106GB02
DX100 controller
2.2.2 Multiple SERVOPACK system
In a system using more than one SERVOPACK, the number of the SERVO-
PACK 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)
2.2.3 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)
E1102000106GB02 19
DX100 controller
3 Alarm series 0000
CAUTION
Before handling the system control circuit board JANCD-YIF**-* for any re-
medies, 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.
3.0.1 CPU Communication Error
3.0.1.1 Alarm No. 0020
Sub
Meaning Cause Remedy
Code
1 No response was sent Software operation (1)Turn the power OFF then back ON.
from the YCP01 board error occurred (2)If the alarm occurs again, save the
when the control power CMOS.BIN in maintenance mode, and then
turned ON. contact your YASKAWA representative about
occurrence status (operating procedure).
Connection failure (1)Turn the power OFF then back ON.

(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. Save the CMOS.BIN before
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.
20 E1102000106GB02
DX100 controller
Sub
Code

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. Save the CMOS.BIN before
replace the board to be safe.
YCP02 board

new YCP01 board.

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

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

YCP02 board

new YCP01 board.
E1102000106GB02 21
DX100 controller
Sub
Code

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

from the servo board #1 Control group settings in maintenance mode
when the control power The EAXA board rotary switch setting (0) of
turned ON. the 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.

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.

EAXA board. Save the CMOS.BIN before


The cable of EAXA board CN509
516
22 E1102000106GB02
DX100 controller
Sub
Code



516



516

E1102000106GB02 23
DX100 controller
Sub
Code


516



516

24 E1102000106GB02
DX100 controller
Sub
Code

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

516



516

E1102000106GB02 25
DX100 controller
3.0.2 Communication Error (SERVO)
3.0.2.1 Alarm Number 0021
Sub
Code
50 The communications Setting error (1)Check the following settings.

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.
Connection (1)Turn the power OFF then back ON.

failure (2)If the alarm occurs again, check the
connection and insertion of the following cables
and connectors.
516

failure (2)If the alarm occurs again, replace the EAXA
board. Save the CMOS.BIN before replace the
board to be safe.
(2)If the alarm occurs again, replace the YIF01
board to be safe. Replace the YIF01 board, and
then load the CMOS.BIN saved before alarm
occurred.

turned ON.

and connectors.
516

board to be safe.
26 E1102000106GB02
DX100 controller
Sub
Code
occurred.

turned ON.

and connectors.
516

board to be safe.
occurred.

turned ON.

and connectors.
516

board to be safe.
E1102000106GB02 27
DX100 controller
Sub
Code
occurred.

turned ON.

and connectors.
516

board to be safe.
occurred.

turned ON.

and connectors.
516

board to be safe.
28 E1102000106GB02
DX100 controller
Sub
Code
occurred.

turned ON.

and connectors.
516

board to be safe.
occurred.

turned ON.

and connectors.
516

board to be safe.
E1102000106GB02 29
DX100 controller
Sub
Code
occurred.
3.0.3 ROM Error
3.0.3.1 Alarm number 0030
Sub
Code
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
occurred CMOS.BIN in maintenance mode, and then
contact your YASKAWA representative about
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
damaged. occurred CMOS.BIN in maintenance mode, and then

YCP02 board
optional board #2 is operation error (2)If the alarm occurs again, save the

YCP02 board
servo board #1 is operation error (2)If the alarm occurs again, save the

board to be safe.
30 E1102000106GB02
DX100 controller
Sub
Code

board to be safe.

board to be safe.

board to be safe.

board to be safe.

board to be safe.
E1102000106GB02 31
DX100 controller
Sub
Code

board to be safe.

board to be safe.

board to be safe.
3.0.4 Communication Error (I/O Module)
3.0.4.1 0060
Sub
Code
0 The IO module board Software (1)Turn the power OFF then back ON.
connected with 0th operation error (2)If the alarm occurs again, save the
serial bus exists. occurred CMOS.BIN in maintenance mode, and then
occurred.
1 An error was detected in Setting error (1)Check the following settings.

communications with The rotary switch setting which specifies slot
the I/O module board numbers of each I/O module
connected with 1st I/O module settings in maintenance mode
serial bus when the
control power turned
ON.
32 E1102000106GB02
DX100 controller
Sub
Code

and connectors.
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

(I/O module) (2)If the alarm occurs again, replace the
occurred.

connected with 2nd I/O module settings in maintenance mode
serial bus when the
ON.

and connectors.
Terminator

occurred.

connected with 3rd I/O module settings in maintenance mode
serial bus when the
ON.
E1102000106GB02 33
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

connected with 4th I/O module settings in maintenance mode
serial bus when the
ON.

and connectors.
Terminator

occurred.

serial bus when the
ON.
34 E1102000106GB02
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

serial bus when the
ON.

and connectors.
Terminator

occurred.

serial bus when the
ON.
E1102000106GB02 35
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

serial bus when the
ON.

and connectors.
Terminator

occurred.

serial bus when the
ON.
36 E1102000106GB02
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

serial bus when the
ON.

and connectors.
Terminator

occurred.

serial bus when the
ON.
E1102000106GB02 37
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

serial bus when the
ON.

and connectors.
Terminator

occurred.

serial bus when the
ON.
38 E1102000106GB02
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

the YIU unit when the numbers of each I/O module
control power was I/O module settings in maintenance mode
turned ON.
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.

and connectors.
MII communications cable (CN114) of the YIF
board
MII communications cable (CN300) of the YIU
unit
Terminator
24V power of the YIU unit
YIU unit failure (1)Turn the power OFF then back ON.
following unit.
YIU unit
occurred.
E1102000106GB02 39
DX100 controller
Sub
Code

serial bus when the
ON.

and connectors.
Terminator

occurred.

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

connector.
The PCI connector of the corresponding I/O
module

The corresponding I/O module (PCI board)
occurred.
40 E1102000106GB02
DX100 controller
Sub
Code

connected with 2nd PCI I/O module settings in maintenance mode
when the control power
turned ON.

connector.
module

occurred.

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

connector.
module

occurred.

connected with 4th PCI I/O module settings in maintenance mode
turned ON.
E1102000106GB02 41
DX100 controller
Sub
Code

connector.
module

occurred.
3.0.5 Communication Error (EAXA#1)
Sub
Code
1 The error was detected Setting error (1)Check the following settings.
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.

and connectors.
516

board to be safe.
42 E1102000106GB02
DX100 controller
Sub
Code
occurred.
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.

and connectors.
516

board to be safe.
occurred.
from EAXA board is
invalid.
E1102000106GB02 43
DX100 controller
Sub
Code
from EAXA board is
invalid.

and connectors.
516

board to be safe.
occurred.
by one cycle.

and connectors.
516

board to be safe.
44 E1102000106GB02
DX100 controller
Sub
Code
occurred.
Sub
Code
from EAXA board is
invalid.

and connectors.
516

board to be safe.
occurred.
by one cycle.
E1102000106GB02 45
DX100 controller
Sub
Code

and connectors.
516

board to be safe.
occurred.
Sub
Code
from EAXA board is
invalid.

and connectors.
516

board to be safe.
46 E1102000106GB02
DX100 controller
Sub
Code
by one cycle.

and connectors.
516

board to be safe.
occurred.
3.0.9 Communication Error (EAXA5)
Sub
Code
from EAXA board is
invalid.

and connectors.
516
E1102000106GB02 47
DX100 controller
Sub
Code

board to be safe.
occurred.
by one cycle.

and connectors.
516

board to be safe.
occurred.
48 E1102000106GB02
DX100 controller
Sub
Code
from EAXA board is
invalid.

and connectors.
516

board to be safe.
occurred.
by one cycle.

and connectors.
516

board to be safe.
E1102000106GB02 49
DX100 controller
Sub
Code
occurred.
Sub
Code
from EAXA board is
invalid.

and connectors.
516

board to be safe.
occurred.
by one cycle.
50 E1102000106GB02
DX100 controller
Sub
Code

and connectors.
516

board to be safe.
occurred.
Sub
Code
from EAXA board is
invalid.

and connectors.
516

board to be safe.
E1102000106GB02 51
DX100 controller
Sub
Code
occurred.
by one cycle.

and connectors.
516

board to be safe.
occurred.
3.0.13 Memory Error (Parameter File)
Sub
Code
0 The RC 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 external memory
device.
52 E1102000106GB02
DX100 controller
Sub
Code
occurred.
1 The RO parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
2 The SV parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
3 The SVM parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
4 The SC parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
E1102000106GB02 53
DX100 controller
Sub
Code
5 The SD parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
6 The CIO parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
7 The FD parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
8 The AP parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
9 The RS parameter is Data error (1)Turn the power OFF then back ON.
device.
54 E1102000106GB02
DX100 controller
Sub
Code
occurred.
10 The SE parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
occurred.
11 The SVC parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
12 The AMC parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
13 The SVP parameter is Data error (1)Turn the power OFF then back ON.
device.
E1102000106GB02 55
DX100 controller
Sub
Code
occurred.
14 The MF parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
15 The SVS parameter is Data error (1)Turn the power OFF then back ON.
device.
occurred.
3.0.14 Memory Error (System Config-Data)
Sub
Code
The system YCP01 board (1)Turn the power OFF then back ON.
configuration failure (2)If the alarm occurs again, replace the YCP01
information data are board. Save the CMOS.BIN before replace the
damaged. 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.
occurred.
56 E1102000106GB02
DX100 controller
3.0.15 Memory Error (JOB MNG Data)
Sub
Code
0 The management data Data error (1)Turn the power OFF then back ON.
of job files are (2)If the alarm occurs again, initialize the job file
damaged. in maintenance mode, and then load the data
(job, variable data, Robot calibration data)
saved in the external memory device.

failure (2)If the alarm occurs again, replace the YCP01
board to be safe. Replace the YCP01 board,
occurred.
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

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

E1102000106GB02 57
DX100 controller
Sub
Code
occurred.
3 Memory and pla back Data error (1)Turn the power OFF then back ON.
file is damaged. (2)If the alarm occurs again, initialize the
device.

occurred.
3.0.16 Memory Error (Ladder PRG File)
Sub
Code
The CIO ladder file is Data error (1)Turn the power OFF then back ON.
device.

occurred.
58 E1102000106GB02
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3.0.17 Memory Error (Devicenet Alloc FL)
Sub
Code
0 The DeviceNet Setting error (1)Check the following settings.

allocation file 1 is [XFB01 board]
damaged. 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

occurred.

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

occurred.
E1102000106GB02 59
DX100 controller
3.0.18 Memory Error (CF BACKUP FILE)
Sub
Code
The system software Software (1)Turn the power OFF then back ON.
version is inconsistent operation error (2)If the alarm occurs again, save the
with the version when occurred CMOS.BIN in maintenance mode, and then
the internal storage data contact your YASKAWA representative about
is set or the occurrence status (operating procedure).
CompactFlash on the
YCP01 board is
damaged.
occurred.
3.0.19 Memory Error (Network Setup)
Sub
Code
The network setting file Data error (1)Turn the power OFF then back ON.
is damaged. (2)If the alarm occurs again, initialize the
then set the network again.
occurred.
60 E1102000106GB02
DX100 controller
3.0.20 Verify Error (System Config-Data)
Sub
Code
2 CIO parameter error. Setting error (1)Check the following settings.

I/O module settings in maintenance mode

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

error. Control group settings in maintenance mode

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

error. The optional board setting in maintenance
mode

occurred.
E1102000106GB02 61
DX100 controller
Sub
Code
7 The set optional Setting error (1)Check the following settings.

functions are different The optional board setting in maintenance
from those of the mode
mounted optional board.

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

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

occurred.
3.0.21 Verify Error (Cmos Memory Size)
Sub
Code
The CMOS memory YCP01 board (1)Turn the power OFF then back ON.
capacity is different from failure (2)If the alarm occurs again, replace the YCP01
its initial setting. board. Save the CMOS.BIN before replace the
62 E1102000106GB02
DX100 controller
Sub
Code
occurred.
3.0.22 Verify Error (/I/O Module)
Sub
Code
1 The I/O module Setting error (1)Check the following settings.

connected to the serial The rotary switch setting which specifies slot
bus #1 is different from numbers of each I/O module
the function of the set I/ I/O module settings in maintenance mode
O module.

and connectors.
Terminator

occurred.

O module.
E1102000106GB02 63
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

O module.

and connectors.
Terminator

occurred.

O module.
64 E1102000106GB02
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

O module.

and connectors.
Terminator

occurred.

O module.
E1102000106GB02 65
DX100 controller
Sub
Code

and connectors.
Terminator

occurred.

O module.

and connectors.
Terminator

occurred.

O module.
66 E1102000106GB02
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Sub
Code

and connectors.
Terminator

occurred.

O module.

and connectors.
Terminator

occurred.

O module.
E1102000106GB02 67
DX100 controller
Sub
Code

and connectors.
Terminator

and connectors.
Terminator

occurred.

O module.

and connectors.
Terminator

occurred.
68 E1102000106GB02
DX100 controller
Sub
Code

O module.

and connectors.
Terminator

occurred.

O module.

and connectors.
Terminator

occurred.
E1102000106GB02 69
DX100 controller
Sub
Code

O module.

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

O module.

and connectors.
Terminator

occurred.
70 E1102000106GB02
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Sub
Code

connected to the 1st PCI slot number in which each PCI board is
PCI bus is different from mounted
O module.

connector.
module

occurred.

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

connector.
module

occurred.

connected to the 3rd PCI slot number in which each PCI board is
O module.
E1102000106GB02 71
DX100 controller
Sub
Code

connector.
module

occurred.

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

connector.
module

occurred.
72 E1102000106GB02
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3.0.23 Verify Error (Application)
Sub
Code

occurred.
3.0.24 Verify Error (DeviceNet Alloc Fl)
Sub
Code
0 The station No. Setting error (1)Check the following settings.

specified by the [XFB01 board]
DeviceNet allocation The settings of the objective DeviceNet
file1 is incorrect (the allocation file
station No. is out of the The I/O module settings of the objective
allowable range, or the DeviceNet board in maintenance mode
specified station board The DeviceNet allocation of the I/O module in
is not the DeviceNet maintenance mode
master).

occurred.
E1102000106GB02 73
DX100 controller
Sub
Code
1 The MAC_ID specified Setting error (1)Check the following settings.

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

master).
occurred.
2 Inconsistency was Setting error (1)Check the following settings.

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

occurred.

master).
74 E1102000106GB02
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Sub
Code

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

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

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

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

occurred.
E1102000106GB02 75
DX100 controller
3.0.25 Verify Error (Spot Welder I/F)
Sub
Code
The designation in the Setting error (1)Check the following settings.

parameter is different The welding timer designation
from the connected
welding timer.

occurred.
3.0.26 Verify Error (Segment Clock)
Sub
Code
Illegal instruction cycle Setting error (1)Check the following settings.

is set. Instruction execution cycle

occurred.
76 E1102000106GB02
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3.0.27 Parameter Transmission Error
Sub
Code
50 An error occurred during Setting error (1)Check the following settings.

the parameter/file Control group settings in maintenance mode
transfer to the 1st servo The EAXA board rotary switch setting (0) of the
board. corresponding node number (SV#1)

and connectors.
516

board to be safe.
occurred.

transfer to the 2nd servo The EAXA board rotary switch setting (1) of the

and connectors.
516

board to be safe.
occurred.
E1102000106GB02 77
DX100 controller
Sub
Code

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

and connectors.
516

board to be safe.
occurred.

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

and connectors.
516

board to be safe.
occurred.

78 E1102000106GB02
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Sub
Code

and connectors.
516
occurred.


and connectors.
516

board to be safe.
occurred.


and connectors.
516
E1102000106GB02 79
DX100 controller
Sub
Code

board to be safe.
occurred.


and connectors.
516

board to be safe.
occurred.
3.0.28 Mode Change Error
Sub
Code

startup sequence Control group settings in maintenance mode
processing with the The EAXA board rotary switch setting (0) of the
servo CPU of 1st servo corresponding node number (SV#1)
board, and the system
did not startup normally.
80 E1102000106GB02
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Sub
Code

and connectors.
516

board to be safe.
occurred.

servo CPU of 2nd servo corresponding node number (SV#2)

and connectors.
516

board to be safe.
occurred.

servo CPU of 3rd servo corresponding node number (SV#3)
E1102000106GB02 81
DX100 controller
Sub
Code

and connectors.
516

board to be safe.
occurred.

servo CPU of 4th servo corresponding node number (SV#4)

and connectors.
516

board to be safe.
occurred.

82 E1102000106GB02
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Sub
Code

and connectors.
516

board to be safe.
occurred.


and connectors.
516

board to be safe.
occurred.

E1102000106GB02 83
DX100 controller
Sub
Code

and connectors.
516

board to be safe.
occurred.


and connectors.
516

board to be safe.
occurred.
84 E1102000106GB02
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3.0.29 DeviceNet Alloc FL Transmit Error
Sub
Code

allocation file1 could not [XFB01 board]
be transmitted to the The settings of the objective DeviceNet
specified station. allocation file
maintenance mode

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

occurred.

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

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

E1102000106GB02 85
DX100 controller
Sub
Code
occurred.
3.0.30 Segment Proc Not Ready
Sub
Code
Setting error (1)Check the following settings.

Instruction execution cycle

occurred.
3.0.31 Software Version Unmatch
Sub
Code
0 YCP01 board (1)Turn the power OFF then back ON.

occurred.
86 E1102000106GB02
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3.0.32 Axis Limit Over
Sub
Code
0 Setting error (1)Check the following settings.

Control group settings in maintenance mode

occurred.
3.0.33 Medar Status Error
Sub
Code
MADER timer Refer to the instruction manual for the MEDAR

error function.
3.0.34 Medar Diadnosis Error
Sub
Code

error function.
E1102000106GB02 87
DX100 controller
3.0.35 Medar Version Error
Sub
Code

error function.
3.0.36 Medar Revision Error
Sub
Code

error function.
3.0.37 Medar Version Error
Sub
Code

error function.
3.0.38 Medar Schedule Transmit Error
Sub
Code

error function.
88 E1102000106GB02
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3.0.39 Medar Error 1
Sub
Code

error function.
Sub
Code

error function.
Sub
Code

error function.
3.0.42 Medar Parameter Error
Sub
Code

error function.
E1102000106GB02 89
DX100 controller
3.0.43 Medar Stepper Transmit Error
Sub
Code

error function.
3.0.44 Ladder Initialize Error
Sub
Code
Data error (1)Turn the power OFF then back ON.

(2)If the alarm occurs again, initialize the
device.

occurred.
3.0.45 Ladder Program Error
Sub
Code
1 An error was found in Data error (1)Turn the power OFF then back ON.
the relay No. (2)If the alarm occurs again, initialize the
specification. appropriate data in maintenance mode, and
device.
90 E1102000106GB02
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Sub
Code

occurred.
the register No. (2)If the alarm occurs again, initialize the
specification. appropriate data in maintenance mode, and
device.

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

occurred.
4 Output register is used Data error (1)Turn the power OFF then back ON.
redundantly. (2)If the alarm occurs again, initialize the
device.
E1102000106GB02 91
DX100 controller
Sub
Code

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

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

occurred.
7 The STR instructions Data error (1)Turn the power OFF then back ON.
are overused. (2)If the alarm occurs again, initialize the
device.
92 E1102000106GB02
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Sub
Code

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

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

occurred.
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
other than the STR appropriate data in maintenance mode, and
instruction. then load the data saved in the external memory
device.
E1102000106GB02 93
DX100 controller
Sub
Code

occurred.
11 Excessive machine Data error (1)Turn the power OFF then back ON.
codes (2)If the alarm occurs again, initialize the
device.

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

occurred.
the PART instruction. (2)If the alarm occurs again, initialize the
device.
94 E1102000106GB02
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Sub
Code

occurred.
the GOUT instruction. (2)If the alarm occurs again, initialize the
device.

occurred.
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
device.

occurred.
16 The constant value is Data error (1)Turn the power OFF then back ON.
incorrect. (2)If the alarm occurs again, initialize the
device.
E1102000106GB02 95
DX100 controller
Sub
Code

occurred.
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
capacity. appropriate data in maintenance mode, and
device.

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

occurred.
found in the CNT (2)If the alarm occurs again, initialize the
instruction or TMR appropriate data in maintenance mode, and
instruction. then load the data saved in the external memory
device.
96 E1102000106GB02
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Sub
Code

occurred.
found in the JMP- (2)If the alarm occurs again, initialize the
LABEL instructions. appropriate data in maintenance mode, and
device.

occurred.
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
exist. appropriate data in maintenance mode, and
device.

occurred.
E1102000106GB02 97
DX100 controller
3.0.46 File Backup Error (YCP01 CF)
Sub
Code
The management area YCP01 board (1)Turn the power OFF then back ON.
(FAT) of Compact Flash failure (2)If the alarm occurs again, replace the YCP01
in YCP01 board is board. Save the CMOS.BIN before replace the
damaged. board to be safe. Replace the YCP01 board,
occurred.
3.0.47 File Load Error (YCP01 CF)
Sub
Code

occurred.
98 E1102000106GB02
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3.0.48 File I/O Error (YCP01 CF)
Sub
Code

occurred.
3.0.49 File Error
Sub
Code
An error occurred during YCP01 board (1)Turn the power OFF then back ON.
the parameter of robot failure (2)If the alarm occurs again, replace the YCP01
Model (mecha.rom) board. Save the CMOS.BIN before replace the
loading. board to be safe. Replace the YCP01 board,
occurred.
E1102000106GB02 99
DX100 controller
3.0.50 Toyopuc Alloc Def Error
Sub
Code
1 An error was found in Setting error (1)Check the following settings.

the input/output Allocation configuration for the TOYOPUC
direction data of
allocation configuration.

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

connector.
set number to use the
input side R-register of
the TOYOPUC exceeds

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

connector.
100 E1102000106GB02
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Sub
Code

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

connector.

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

connector.

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

connector.

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

connector.

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

connector.
E1102000106GB02 101
DX100 controller
Sub
Code

by the system data
"WELDING INFO." of

connector.

by the system data
"TASK INFO." of

connector.

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

connector.

by the system data
"INST. MESSAGE" of

connector.
102 E1102000106GB02
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Sub
Code

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

connector.
30 In the input side setting Setting error (1)Check the following settings.
specified R-register start
No. for the TOYOPUC
exceeds the R-register
limit.

connector.
input side R-register of
the TOYOPUC exceeds

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

connector.
E1102000106GB02 103
DX100 controller
Sub
Code

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

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

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

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

connector.
104 E1102000106GB02
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Sub
Code
configuration data,
some of the M-registers
of concurrent I/O are
specified redundantly.

connector.
3.0.51 Watchdog Timer Error (YIF Board)
Sub
Code
A Watchdog timeout YCP01 board (1)Turn the power OFF then back ON.
was detected in the YIF failure (2)If the alarm occurs again, replace the YCP01
board. board. Save the CMOS.BIN before replace the
occurred.
3.0.52 Watchdog Timer Error (YCP02#1)
Sub
Code
A Watchdog timeout Setting error (1)Check the following settings.

was detected in the Optional board in maintenance mode
CP02 #1 board.

YCP02 board
E1102000106GB02 105
DX100 controller
Sub
Code

CP02 #2 board.

YCP02 board
Sub
Code

CP02 #3 board.

YCP02 board
Sub
Code

CP02 #4 board.

YCP02 board
106 E1102000106GB02
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Sub
Code

CP02 #5 board.

YCP02 board
Sub
Code

CP02 #6 board.

YCP02 board
Sub
Code

CP02 #7 board.

YCP02 board
E1102000106GB02 107
DX100 controller
Sub
Code

CP02 #8 board.

YCP02 board
3.0.60 CPU Error (YCP01)
Sub
Code
1 An error was detected in YCP01 board (1)Turn the power OFF then back ON.
the CPU. failure (2)If the alarm occurs again, replace the YCP01
occurred.
3.0.61 CPU Error (YCP02#1)
Sub
Code
An error was detected in Setting error (1)Check the following settings.

the CPU. Optional board in maintenance mode

YCP02 board
108 E1102000106GB02
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Sub
Code


YCP02 board
Sub
Code


YCP02 board
Sub
Code


YCP02 board
E1102000106GB02 109
DX100 controller
Sub
Code


YCP02 board
Sub
Code


YCP02 board
Sub
Code


YCP02 board
110 E1102000106GB02
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Sub
Code


YCP02 board
3.0.69 Bus Error (YCP01)
Sub
Code
1 The JL chip does not YCP01 board (1)Turn the power OFF then back ON.
operate normally. failure (2)If the alarm occurs again, replace the YCP01
occurred.
3.0.70 CPU Error (EAXA#1)
Sub Meaning Cause Remedy

Code
An error was detected in Connection (1)Turn the power OFF then back ON.
the CPU of servo board failure (2)If the alarm occurs again, check the
#1. connection and insertion of the following cables
and connectors.
516

board to be safe.
E1102000106GB02 111
DX100 controller
Sub Meaning Cause Remedy

Code
occurred.
Sub
Code
and connectors.
516

board to be safe.
occurred.
Sub
Code
and connectors.
516
112 E1102000106GB02
DX100 controller
Sub
Code

board to be safe.
occurred.
Sub
Code
and connectors.
516

board to be safe.
occurred.
E1102000106GB02 113
DX100 controller
Sub
Code
and connectors.
516

board to be safe.
occurred.
Sub
Code
and connectors.
516

board to be safe.
occurred.
114 E1102000106GB02
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Sub
Code
and connectors.
516

board to be safe.
occurred.
Sub
Code
and connectors.
516

board to be safe.
occurred.
E1102000106GB02 115
DX100 controller
4 Alarm series 1000
4.0.1 ROM ERROR (YCP01)
4.0.1.1 Alarm No. 1000
Sub
Code
Software operation (1)Reset the alarm.

error occurred (2)If the alarm occurs again, save the
CMOS.BIN in maintenance mode, and then
4.0.2 ROM ERROR (EAXA01)
Sub
Code
10 A checksum error EAXA board (1)Reset the alarm.(In case of major alarm, turn
occurred in the board or failure the power OFF then back ON.)
the EEPROM.(***: axis (2)If the alarm occurs again, replace the EAXA
No.) board. Save the CMOS.BIN before replace the
board to be safe.
20 The SRDY signal did EAXA board (1)Reset the alarm.(In case of major alarm, turn
not turn ON after the failure the power OFF then back ON.)
WRITE ENABLE (2)If the alarm occurs again, replace the EAXA
command was written. board. Save the CMOS.BIN before replace the
(EEPROM WRITE board to be safe.
ENABLE error)
WRITE PROTECT (2)If the alarm occurs again, replace the EAXA
command was written. board. Save the CMOS.BIN before replace the
(EEPROM WRITE board to be safe.
PROTECT error)
ERASE command was (2)If the alarm occurs again, replace the EAXA
written. (EEPROM board. Save the CMOS.BIN before replace the
ERASE error) board to be safe.
116 E1102000106GB02
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Sub
Code
CLEAR command was (2)If the alarm occurs again, replace the EAXA
written. (EEPROM board. Save the CMOS.BIN before replace the
CLEAR error) board to be safe.
not turn ON after data failure the power OFF then back ON.)
were written. (EEPROM (2)If the alarm occurs again, replace the EAXA
writing error) board. Save the CMOS.BIN before replace the
board to be safe.
not turn ON after data failure the power OFF then back ON.)
were read. (EEPROM (2)If the alarm occurs again, replace the EAXA
reading error) board. 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
rejected at verification. failure the power OFF then back ON.)
(EEPROM verify error) (2)If the alarm occurs again, replace the EAXA
board to be safe.
4.0.3 ROM Error (YCP02)
Sub
Code
4.0.4 MEMORY ERROR (PARAMETER FILE)
Sub
Code
0 RCD, RCxG parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the
device.
E1102000106GB02 117
DX100 controller
Sub
Code

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

2 SVD, SVxG parameter Data error (1)Turn the power OFF then back ON.
device.

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

0 RCD, RCxG parameter Data error (1)Turn the power OFF then back ON.
device.

118 E1102000106GB02
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Sub
Code
1 ROxG parameter error Data error (1)Turn the power OFF then back ON.
device.

2 SVD, SVxG parameter Data error (1)Turn the power OFF then back ON.
device.

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

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
device.
occurred.

E1102000106GB02 119
DX100 controller
Sub
Code
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
device.

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

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

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

9 RS parameter error Data error (1)Turn the power OFF then back ON.
device.
120 E1102000106GB02
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Sub
Code

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

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

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

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

E1102000106GB02 121
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Sub
Code
14 MFxG parameter error Data error (1)Turn the power OFF then back ON.
device.

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

occurred.
4.0.5 MEMORY ERROR (MOTION1)
Sub
Code
0 "GET FILE" instruction, Data error (1)Turn the power OFF then back ON.
"SET FILE" instruction (2)If the alarm occurs again, initialize the
execution target file appropriate data in maintenance mode, and
device.
1 Home position Data error (1)Turn the power OFF then back ON.
calibration file (2)If the alarm occurs again, initialize the
device.
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2 Tool file Data error (1)Turn the power OFF then back ON.
device.
3 User coordinates file Data error (1)Turn the power OFF then back ON.
device.
4 Robot calibration file Data error (1)Turn the power OFF then back ON.
device.
5 Tool calibration file Data error (1)Turn the power OFF then back ON.
device.
6 Weaving amplitude Data error (1)Turn the power OFF then back ON.
condition file (2)If the alarm occurs again, initialize the
device.
7 Home position Data error (1)Turn the power OFF then back ON.
correction data file (2)If the alarm occurs again, initialize the
device.
8 Conveyor calibration file Data error (1)Turn the power OFF then back ON.
device.
9 Arm and tool Data error (1)Turn the power OFF then back ON.
interference prevention (2)If the alarm occurs again, initialize the
file appropriate data in maintenance mode, and
device.
20 Weaving file Data error (1)Turn the power OFF then back ON.
device.
21 Power Source condition Data error (1)Turn the power OFF then back ON.
data file (2)If the alarm occurs again, initialize the
device.
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22 Welding condition Data error (1)Turn the power OFF then back ON.
auxiliary file (2)If the alarm occurs again, initialize the
device.
23 Arc start condition file Data error (1)Turn the power OFF then back ON.
device.
24 Arc end condition file Data error (1)Turn the power OFF then back ON.
device.
25 COMARC condition file Data error (1)Turn the power OFF then back ON.
device.
26 COMARC data file Data error (1)Turn the power OFF then back ON.
device.
27 Path correction Data error (1)Turn the power OFF then back ON.
device.
28 Painting characteristics Data error (1)Turn the power OFF then back ON.
file (2)If the alarm occurs again, initialize the
device.
29 Painting condition file Data error (1)Turn the power OFF then back ON.
device.
30 Multi-layer index file Data error (1)Turn the power OFF then back ON.
device.
31 Multi-layer condition file Data error (1)Turn the power OFF then back ON.
device.
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32 Sensor monitoring Data error (1)Turn the power OFF then back ON.
device.
34 Conveyor condition file Data error (1)Turn the power OFF then back ON.
device.
35 Press characteristics file Data error (1)Turn the power OFF then back ON.
device.
36 Servo float condition file Data error (1)Turn the power OFF then back ON.
device.
37 Spot welding Power Data error (1)Turn the power OFF then back ON.
Source condition data (2)If the alarm occurs again, initialize the
file appropriate data in maintenance mode, and
device.
38 Air-gun condition file Data error (1)Turn the power OFF then back ON.
device.
39 Motor-gun condition file Data error (1)Turn the power OFF then back ON.
device.
40 Gun pressure file Data error (1)Turn the power OFF then back ON.
device.
41 Gun pressure file Data error (1)Turn the power OFF then back ON.
device.
42 Anticipation OT# output Data error (1)Turn the power OFF then back ON.
device.
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43 Anticipation OG# output Data error (1)Turn the power OFF then back ON.
device.
44 Handling condition file Data error (1)Turn the power OFF then back ON.
device.
45 Form cut file Data error (1)Turn the power OFF then back ON.
device.
46 Spot (user) I/O Data error (1)Turn the power OFF then back ON.
allocation file (2)If the alarm occurs again, initialize the
device.
47 Linear servo float Data error (1)Turn the power OFF then back ON.
device.
48 Macro definition file Data error (1)Turn the power OFF then back ON.
device.
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
device.
50 Seal amount correction Data error (1)Turn the power OFF then back ON.
(undercoat) appropriate data in maintenance mode, and
device.
51 Arc monitor file Data error (1)Turn the power OFF then back ON.
device.
53 Job registration table Data error (1)Turn the power OFF then back ON.
device.
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54 Painting device Data error (1)Turn the power OFF then back ON.
device.
55 Painting system file Data error (1)Turn the power OFF then back ON.
device.
56 Painting condition file Data error (1)Turn the power OFF then back ON.
device.
57 Paint characteristics file Data error (1)Turn the power OFF then back ON.
device.
58 EVB gun file Data error (1)Turn the power OFF then back ON.
device.
59 Paint filling file Data error (1)Turn the power OFF then back ON.
device.
60 Welding pulse condition Data error (1)Turn the power OFF then back ON.
device.
61 Clearance file Data error (1)Turn the power OFF then back ON.
device.
62 Linear scale condition Data error (1)Turn the power OFF then back ON.
device.
63 Gauging sensor Data error (1)Turn the power OFF then back ON.
device.
E1102000106GB02 127
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64 Conveyor condition Data error (1)Turn the power OFF then back ON.
auxiliary file (2)If the alarm occurs again, initialize the
device.
65 Laser welding start Data error (1)Turn the power OFF then back ON.
device.
66 Laser welding end Data error (1)Turn the power OFF then back ON.
device.
67 Palletizing condition file Data error (1)Turn the power OFF then back ON.
device.
68 Air-gun pressure file Data error (1)Turn the power OFF then back ON.
device.
69 Mastering registration Data error (1)Turn the power OFF then back ON.
position (2)If the alarm occurs again, initialize the
device.
4.0.6 SET-UP PROCESS ERROR (SYSCON)
Sub
Code
1 Motion instruction setup YCP01 board (1)Turn the power OFF then back ON.
incomplete. failure (2)If the alarm occurs again, replace the YCP01
Software (1)Turn the power OFF then back ON.

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

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

4.0.7 SET-UP PROCESS ERROR (MOTION)
Sub
Code
1 Unable to properly EAXA board (1)Turn the power OFF then back ON.
activate the servo failure (2)If the alarm occurs again, replace the EAXA
control board. Save the CMOS.BIN before replace the
board to be safe.

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

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

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

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

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

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 to be safe.

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

10 Unable to initialize YCP01 board (1)Turn the power OFF then back ON.
ARITH failure (2)If the alarm occurs again, replace the YCP01

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

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

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4.0.8 SYSTEM ERROR (EVENT)
Sub
Code
Sub Code Software (1)Turn the power OFF then back ON.
1 to 8: Signifies the operation error (2)If the alarm occurs again, save the
internal software error at occurred CMOS.BIN in maintenance mode, and then
event process. contact your YASKAWA representative about
4.0.9 SYSTEM ERROR (MAN-MACHINE MECHA)
Sub
Code
1 to 6: Internal control operation error (2)If the alarm occurs again, save the
error in software occurred CMOS.BIN in maintenance mode, and then
4.0.10 SYSTEM ERROR (MAN-MACHINE APPLI)
Sub
Code
1 to 526: Internal control operation error (2)If the alarm occurs again, save the
error in software occurred CMOS.BIN in maintenance mode, and then
132 E1102000106GB02
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4.0.11 SYSTEM ERROR (EVENT)
Sub
Code

4.0.12 SYSTEM ERROR (CIO)
Sub
Code
Sub Code Connection (1)Turn the power OFF then back ON.
1000_0000: I/O module failure (2)If the alarm occurs again, check the
setting error connection and inserting state of the following
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).

E1102000106GB02 133
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4.0.13 SYSTEM ERROR (SERVO)
Sub
Code
0 No processing Software (1)Reset the alarm.(In case of major alarm, turn

corresponds to the operation error the power OFF then back ON.)
command code sent occurred (2)If the alarm occurs again, save the
from MOTION section. CMOS.BIN in maintenance mode, and then
EAXA board (1)Reset the alarm.(In case of major alarm, turn

failure the power OFF then back ON.)
(2)If the alarm occurs again, replace the EAXA
board to be safe.

YIF board failure (1)Reset the alarm.(In case of major alarm, turn
the power OFF then back ON.)
then load the CMOS.BIN.
15 An error occurred in the Software (1)Reset the alarm.(In case of major alarm, turn
encoder power supply operation error the power OFF then back ON.)
control process. occurred (2)If the alarm occurs again, save the

board to be safe.
21 A task request was sent Software (1)Reset the alarm.(In case of major alarm, turn
to an axis in the alarm operation error the power OFF then back ON.)
status. occurred (2)If the alarm occurs again, save the
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board to be safe.
23 A task request was sent Software (1)Reset the alarm.(In case of major alarm, turn
to the general operation error the power OFF then back ON.)
SERVOPACKs. occurred (2)If the alarm occurs again, save the

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

passed the singular Correct the job so that the Robot (B-axis) does
point while the linear not pass the singular point while the linear servo
servo float was ON. float is ON.
47 The alarm number is Software (1)Reset the alarm.(In case of major alarm, turn
illegal. operation error the power OFF then back ON.)
occurred (2)If the alarm occurs again, save the
52 An error occurred when Software (1)Reset the alarm.(In case of major alarm, turn
gun control command is operation error the power OFF then back ON.)
executed. occurred (2)If the alarm occurs again, save the
60 The axis endless Setting error (1)Check the following settings.

function is set enabled Disable the corresponding axis endless
for motor guns. function.
100 The sequence was Software (1)Reset the alarm.(In case of major alarm, turn
untimely executed in the operation error the power OFF then back ON.)
general-purpose 10ms occurred (2)If the alarm occurs again, save the
process although it was CMOS.BIN in maintenance mode, and then
not the execution timing. contact your YASKAWA representative about
E1102000106GB02 135
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Sub
Code

board to be safe.
segment_G process occurred (2)If the alarm occurs again, save the
although it was not the CMOS.BIN in maintenance mode, and then
execution timing. contact your YASKAWA representative about

board to be safe.
general-purpose 2ms occurred (2)If the alarm occurs again, save the

board to be safe.
dynamics calculation occurred (2)If the alarm occurs again, save the

board to be safe.
dynamics compensation occurred (2)If the alarm occurs again, save the
136 E1102000106GB02
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Code

board to be safe.
servo communications occurred (2)If the alarm occurs again, save the
CERF sending process CMOS.BIN in maintenance mode, and then
although it was not the contact your YASKAWA representative about
execution timing. occurrence status (operating procedure).

board to be safe.
servo communications occurred (2)If the alarm occurs again, save the
CERF receiving process CMOS.BIN in maintenance mode, and then
although it was not the contact your YASKAWA representative about
execution timing. occurrence status (operating procedure).

board to be safe.
segment_R process occurred (2)If the alarm occurs again, save the

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

board to be safe.
segment_OPT1 process occurred (2)If the alarm occurs again, save the

board to be safe.
segment_OPT2 process occurred (2)If the alarm occurs again, save the

board to be safe.
120 A general-purpose Software (1)Reset the alarm.(In case of major alarm, turn
10ms process did not operation error the power OFF then back ON.)
complete within the time occurred (2)If the alarm occurs again, save the
set on the scheduling CMOS.BIN in maintenance mode, and then
table. contact your YASKAWA representative about

board to be safe.
121 The segment_G Software (1)Reset the alarm.(In case of major alarm, turn
process did not operation error the power OFF then back ON.)
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board to be safe.
123 The general-purpose Software (1)Reset the alarm.(In case of major alarm, turn
2ms process did not operation error the power OFF then back ON.)

board to be safe.
125 The dynamics Software (1)Reset the alarm.(In case of major alarm, turn
calculation process did operation error the power OFF then back ON.)
not complete within the occurred (2)If the alarm occurs again, save the
time set on the CMOS.BIN in maintenance mode, and then
scheduling table. contact your YASKAWA representative about

board to be safe.
compensation process operation error the power OFF then back ON.)
did not complete within occurred (2)If the alarm occurs again, save the
the time set on the CMOS.BIN in maintenance mode, and then

board to be safe.
127 The CERF transmission Software (1)Reset the alarm.(In case of major alarm, turn
E1102000106GB02 139
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Code

board to be safe.
calculation process did operation error the power OFF then back ON.)
not complete within the occurred (2)If the alarm occurs again, save the
time set on the CMOS.BIN in maintenance mode, and then

board to be safe.
129 The CERF receiving Software (1)Reset the alarm.(In case of major alarm, turn

board to be safe.
130 The segment_R Software (1)Reset the alarm.(In case of major alarm, turn

board to be safe.
131 The segment_E process Software (1)Reset the alarm.(In case of major alarm, turn
did not complete within operation error the power OFF then back ON.)
the time set on the occurred (2)If the alarm occurs again, save the
scheduling table. CMOS.BIN in maintenance mode, and then
140 E1102000106GB02
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Code

board to be safe.
132 The segment_OPT1 Software (1)Reset the alarm.(In case of major alarm, turn

board to be safe.
133 The segment_OPT3 Software (1)Reset the alarm.(In case of major alarm, turn

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

operation error the power OFF then back ON.)
1000 The check item number Software (1)Reset the alarm.(In case of major alarm, turn
of SVD parameter is operation error the power OFF then back ON.)
unmatched. occurred (2)If the alarm occurs again, save the
of SV parameter is operation error the power OFF then back ON.)
of SVM parameter is operation error the power OFF then back ON.)
of SVP parameter is operation error the power OFF then back ON.)
of AMC parameter is operation error the power OFF then back ON.)
of MFG parameter is operation error the power OFF then back ON.)
of MFA parameter is operation error the power OFF then back ON.)
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of SVC parameter is operation error the power OFF then back ON.)
2100 The motioning software Software (1)Reset the alarm.(In case of major alarm, turn
is not used with circuit operation error the power OFF then back ON.)
board as target. occurred (2)If the alarm occurs again, save the
3000 The parameter number Software (1)Reset the alarm.(In case of major alarm, turn
of the universal operation error the power OFF then back ON.)
SERVOPACK is not occurred (2)If the alarm occurs again, save the
valid. CMOS.BIN in maintenance mode, and then
4000 Execution of motion Software (1)Reset the alarm.(In case of major alarm, turn
command did not operation error the power OFF then back ON.)
complete within a occurred (2)If the alarm occurs again, save the
certain time period. CMOS.BIN in maintenance mode, and then
7100 The override ratio is Software (1)Reset the alarm.(In case of major alarm, turn
invalid. operation error the power OFF then back ON.)
7200 Interpolation cycle is Software (1)Reset the alarm.(In case of major alarm, turn
shorter than the set operation error the power OFF then back ON.)
value. occurred (2)If the alarm occurs again, save the
7400 Buffer-related area for Software (1)Reset the alarm.(In case of major alarm, turn
category 1 has not operation error the power OFF then back ON.)
completed initialization. occurred (2)If the alarm occurs again, save the
32807 An error occurred in the Connection (1)Reset the alarm.(In case of major alarm, turn
first encoder failure the power OFF then back ON.)
communications. (2)If the alarm occurs again, check the
and connectors.
EAXA01-CN508
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4.0.14 SYSTEM ERROR (CONVEYOR)
Sub
Code
4.0.15 HIGH TEMPERATURE (IN CNTL BOX)
Sub
Code
The temperature Turn the power OFF then back ON after cooling
rises in the the controller.
controller

connection of the following cable.
CN159 power supply cable of the cooling fan in
the YPS unit
YPS unit failure (1)Turn the power OFF then back ON.
following unit.
YPS unit
4.0.16 COMMUNICATION ERROR (I/O MODULE)
Sub
Code
****_ The communication Connection Check the insertion and connection of the
****_ error slot (Serial-bus- failure followings.
****_ connected I/O module The MII communications cable which I/O
**** communication station module of the corresponding sub code
No.) is displayed by the (In case of MII communications last station)
bit. Terminator
0: correct / 1: incorrect 24V power of the corresponding I/O module
IO module Replace the I/O module of the corresponding

failure station number.
144 E1102000106GB02
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Code
Power supply Replace the 24V power supply supplied to the I/

broken O module of the corresponding station number.
YIF01board Save the CMOS.BIN file.

broken Replace the YIF board, and then load the saved
CMOS.BIN file.
4.0.17 EXTERNAL WDT BROKEN (YIF01)
Sub
Code
Sub Code Circuit board Replace the YIF01 board, and initialize the
0000_0001: Error broken DX100 system 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

failure DX100 system configuration.
4.0.18 SAFETY CIRCUIT WDT ERROR (YIF01)
Sub
Code
Sub Code Setting error Check the one of PPESP, PBESP, EXESP, and
0000_0001: Error SAF signals.
0000_0010: Error
0000_0011: Error
1 and 2

E1102000106GB02 145
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4.0.19 ANOTHER PLD EXT WDT ERROR (YIF01)
Sub
Code
Sub Code Connection Check the insertion and connection of the

0000_0001: Error failure followings.
detected in PLD circuit 1 The wiring of the unmatched signal
0000_0010: Error YIF board
0000_0011: Error
1 and 2

4.0.20 LAN COMMUNICATION PARAMETER ERROR
Sub
Code
1 Incorrect setting of the Setting error (1)Check the following settings.

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

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

default gateway which is Default gateway of network in maintenance
used in the Ethernet 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.

IP address of the SNTP SNTP setting of network in maintenance mode
server which is used in
the Ethernet function of
the SNTP.
146 E1102000106GB02
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Code

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

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

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

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

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

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

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

E1102000106GB02 147
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Code
IP address setting operation error (2)If the alarm occurs again, save the

subnet mask setting operation error (2)If the alarm occurs again, save the

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

host name setting operation error (2)If the alarm occurs again, save the

MAC address getting operation error (2)If the alarm occurs again, save the
148 E1102000106GB02
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Web server task operation error (2)If the alarm occurs again, save the
creating process of the occurred CMOS.BIN in maintenance mode, and then
Ehternet function. contact your YASKAWA representative about

FTP server task operation error (2)If the alarm occurs again, save the
creating process of the occurred CMOS.BIN in maintenance mode, and then
Ehternet function. contact your YASKAWA representative about

FTP client task creating operation error (2)If the alarm occurs again, save the

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

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

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

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

DHCP initialization operation error (2)If the alarm occurs again, save the

DHCP interface of the operation error (2)If the alarm occurs again, save the
Ethernet function. occurred CMOS.BIN in maintenance mode, and then
150 E1102000106GB02
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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.

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 network status
the Ethernet function.

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


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


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


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


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


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

152 E1102000106GB02
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Code

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

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

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

73 The mode error Setting error (1)Check the following settings.

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

basic library initialization operation error (2)If the alarm occurs again, save the

initialization process operation error (2)If the alarm occurs again, save the
other than basic library occurred CMOS.BIN in maintenance mode, and then
of the Ethernet function. contact your YASKAWA representative about
E1102000106GB02 153
DX100 controller
Sub
Code

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

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

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

4.0.22 IP ADDRESS SET FAIL (DHCP)
Sub
Code
IP address could not be Setting error (1)Check the following settings.

obtained at DHCP. The DHCP server operation
The network status
154 E1102000106GB02
DX100 controller
Sub
Code

Connection (1)Reset the alarm.(In case of major alarm, turn

and connectors.
[Robot axis]
Cable between encoders
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
4.0.23 SERVO CPU SYNCHRONIZING ERROR
Sub
Code

and connectors.
EAXA01-CN515
YIF01-CN113

board to be safe.
E1102000106GB02 155
DX100 controller
4.0.24 COMMUNICATION ERROR (SERVO)
Sub
Code
0 Communication status Connection (1)Reset the alarm.(In case of major alarm, turn
error failure the power OFF then back ON.)
and connectors.
EAXA01-CN515
YIF01-CN113

board to be safe.
1 Watchdog timer error Connection (1)Reset the alarm.(In case of major alarm, turn
and connectors.
EAXA01-CN515
YIF01-CN113

board to be safe.
2 JL0101 alarm Connection (1)Reset the alarm.(In case of major alarm, turn
and connectors.
EAXA01-CN515
YIF01-CN113
156 E1102000106GB02
DX100 controller
Sub
Code

board to be safe.
error failure the power OFF then back ON.)
and connectors.
EAXA01-CN515
YIF01-CN113

board to be safe.
4 Data consistency error Connection (1)Reset the alarm.(In case of major alarm, turn
and connectors.
EAXA01-CN515
YIF01-CN113

board to be safe.
E1102000106GB02 157
DX100 controller
Sub
Code

4.0.25 COMMUNICATION ERROR (SERVO I/O)
Sub
Code
1 No interrupt from servo Connection (1)Reset the alarm.(In case of major alarm, turn
I/O communications failure the power OFF then back ON.)
(JL098) occurred. (2)If the alarm occurs again, check the
(Communication loop connection and insertion of the following cables
back) and connectors.
EAXA01-CN517
YSU01-CN202

board to be safe.
2 The servo I/O Connection (1)Reset the alarm.(In case of major alarm, turn
communications failure the power OFF then back ON.)
(JL098) received status (2)If the alarm occurs again, check the
is incorrect. (No connection and insertion of the following cables
interrupt) and connectors.
EAXA01-CN517
YSU01-CN202

board to be safe.
(JL098) buffer switch (2)If the alarm occurs again, check the
status is incorrect. connection and insertion of the following cables
(Watchdog timer error) and connectors.
EAXA01-CN517
YSU01-CN202
158 E1102000106GB02
DX100 controller
Sub
Code

board to be safe.
(JL098) receiving status (2)If the alarm occurs again, check the
is incorrect. (Command connection and insertion of the following cables
timeout) and connectors.
EAXA01-CN517
YSU01-CN202

board to be safe.
0010 The communications Connection (1)Reset the alarm.(In case of major alarm, turn
loop back value of servo failure the power OFF then back ON.)
I/O communications (2)If the alarm occurs again, check the
(JL098) is incorrect. connection and insertion of the following cables
(Communication loop and connectors.
back) (First two digits AXA01-CN517
show the station SU01-CN202
number of the
connected unit)

board to be safe.
0011 The received address of Connection (1)Reset the alarm.(In case of major alarm, turn
JL098 is unmatched failure the power OFF then back ON.)
with the sent address. (2)If the alarm occurs again, check the
(First two digits show connection and insertion of the following cables
the station number of and connectors.
the connected unit) EAXA01-CN517
YSU01-CN202

board to be safe.
E1102000106GB02 159
DX100 controller
Sub
Code
0012 The received buffer of Connection (1)Reset the alarm.(In case of major alarm, turn
JL098 is incorrect. (First failure the power OFF then back ON.)
two digits show the (2)If the alarm occurs again, check the
station number of the connection and insertion of the following cables
connected unit) and connectors.
EAXA01-CN517
YSU01-CN202

board to be safe.
4.0.26 ARITHMETIC ERROR(SERVO)
Sub
Code
The data [X____] Tool file setting (1)Check the following settings.
indicates the generation error Reexamine the tool file setting.
process. (Check the units of mass and center of gravity,
10000: Observer control positive/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 Robot. Correct the
tools, the work pieces, and the drive condition.
160 E1102000106GB02
DX100 controller
4.0.27 EX-AXIS BOARD NOT INSTALLED
Sub
Code

Check the parameter setting of external axis
selection.

and connectors.
tanaka saEAXA01-CN517
YSU01-CN202

board to be safe.
4.0.28 AMPLIFIER TYPE MISMATCH
Sub
Code
Sub Code: Signifies the Setting error (1)Check the following settings.
axis in which the alarm Check the current capacity of the amplifier
occurred before/after 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

and connectors.
EAXA01-CN517
YSU01-CN202
Module (1)Reset the alarm.(In case of major alarm, turn

failure(amplifier) the power OFF then back ON.)
amplifier.
E1102000106GB02 161
DX100 controller
Sub
Code

board to be safe.
4.0.29 ENCODER TYPE MISMATCH
Sub
Code
axis in which the alarm Check the motor type before and after the
occurred replacement.
there is no difference between the motor
selected at configuration and the motor that is
actually mounted.
Module failure (1)Reset the alarm.(In case of major alarm, turn

(encoder) the power OFF then back ON.)
encoder.

4.0.30 CONVERTER TYPE MISMATCH
Sub
Code
converter in which the Check the current capacity of the amplifier
alarm occurred before/after replacement by the model
described in board.
there is no difference between the converter
selected at configuration and the converter that
is actually mounted.
Reference parameter: after SVCxB040
162 E1102000106GB02
DX100 controller
Sub
Code
Module failure (1)Turn the power OFF then back ON.

(converter) (2)If the alarm occurs again, check the
and connectors.
module of the corresponding sub code
Terminator

4.0.31 HARDWARE ERROR (CONVERTER)
Sub
Code

(converter) the power OFF then back ON.)
SERVOPACK.
4.0.32 CHARGE ERROR (CONVERTER)
Sub
Code

SERVOPACK.
Primary power Check if the primary power supply voltage does

failure not drop with a tester, etc..
E1102000106GB02 163
DX100 controller
4.0.33 A/D DETECTION ERROR (CONVERTER)
Sub
Code

SERVOPACK.
4.0.34 ID ERROR (CONVERTER)
Sub
Code
Sub Code: Signifies the Module failure (1)Reset the alarm.(In case of major alarm, turn
converter in which the (converter) the power OFF then back ON.)
alarm occurred (2)If the alarm occurs again, replace the
SERVOPACK.
4.0.35 COMMAND ERROR(SERVO)
Sub
Code

164 E1102000106GB02
DX100 controller
4.0.36 VERIFY ERROR (PARAMETER) (SERVO)
Sub
Code
Software (1)Reset the alarm.

4.0.37 SERVOPACK ERROR(SERVO)
Sub
Code

SERVOPACK.
4.0.38 COMMUNICATION WDT ERROR (SERVO)
Sub
Code

and connectors.
EAXA01-CN515
YIF01-CN113

board to be safe.
E1102000106GB02 165
DX100 controller
Sub
Code
YIF board failure (1)Reset the alarm.

(2)If the alarm occurs again, replace the YCP01
4.0.39 COMMAND TIMEOUT(SERVO)
Sub
Code

4.0.40 CANNOT EXECUTE COMMAND (SERVO)
Sub
Code

166 E1102000106GB02
DX100 controller
4.0.41 SERIAL ENCODER MODULE ERROR
Sub
Code

encoder.
4.0.42 SERIAL ENCODER SENSOR ERROR
Sub
Code

encoder.
4.0.43 BRAKE BOARD ERROR
Sub
Code
Connection Check the connection of wiring around the

failure brake circuit board.
4.0.44 BRAKE BOARD STICKING
Sub
Code
YBK board Check the cutout relay for the brake board main
failure circuit.
E1102000106GB02 167
DX100 controller
4.0.45 COMMUNICATION ERROR (ENCODER)
Sub
Code
Sub Code: Signifies the Connection (1)Reset the alarm.(In case of major alarm, turn
axis in which the alarm failure the power OFF then back ON.)
occurred (2)If the alarm occurs again, check the
and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

board to be safe.
4.0.46 DEFECTIVE ENCODER ABSOLUTE DATA
Sub
Code
Sub Code: Signifies the Module failure (1)Check the following settings.
axis in which the alarm (encoder) Replace the defective motor (encoder).
occurred Check the position after the alarm.

board to be safe.
External (1)Check the following settings.

environment Check the grounding condition of Robot.
Check whether it is installed into the strong
magnetic field.
Check the position after the alarm.
168 E1102000106GB02
DX100 controller
4.0.47 ENCODER OVER SPEED
Sub
Code
and connectors.
[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.
4.0.48 DEFECTIVE ENCODER
Sub
Code
and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

board to be safe.
E1102000106GB02 169
DX100 controller
4.0.49 DEFECTIVE SERIAL ENCODER COMMAND
Sub
Code
and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

board to be safe.
4.0.50 MICRO PROGRAM TRANSMIT ERROR
Sub
Code
Sub Code: Signifies the EAXA board (1)Reset the alarm.(In case of major alarm, turn
occurred (2)If the alarm occurs again, replace the EAXA
board to be safe.
CONVERTER CHARGE ERR
170 E1102000106GB02
DX100 controller
4.0.51 CONVERTER CHARGE ERROR (CONVERTER)
Sub
Code

SERVOPACK.
Primary power Check if the primary power supply voltage does

failure not drop.

and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
4.0.52 POSITION ERROR
Sub
Code

board to be safe.
Check the position after the alarm.

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

interference Check the grounding condition of Robot.
Install a ferrite core to the motor power line.
E1102000106GB02 171
DX100 controller
4.0.53 POSITION ERROR (SERIAL ENCODER)
Sub
Code

CP02 #2 board.

YCP02 board
4.0.54 ENCODER NOT RESET
Sub
Code
and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
Battery failure [Robot axis]

Replace the battery inside the robot.
[External axis]
Check the voltage of external axis battery.

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
172 E1102000106GB02
DX100 controller
Sub
Code

encoder.

board to be safe.
4.0.55 OVER SPEED LIMIT
Sub
Code
Setting error Check the JOB.
4.0.56 SERVO OVERRUN ERROR
Sub
Code
Motion range Check if the overrun limit switch is activated by

error the robot.
Connection Check the overrun line.

failure
E1102000106GB02 173
DX100 controller
4.0.57 COMMUNICATION ERROR (CONVERTER)
Sub
Code
error (The first digit failure the power OFF then back ON.)
shows the converter (2)If the alarm occurs again, check the
No.) connection and insertion of the following cables
and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.
002 Command timeout (The Connection (1)Reset the alarm.(In case of major alarm, turn
first digit shows the failure the power OFF then back ON.)
converter No.) (2)If the alarm occurs again, check the
and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.

174 E1102000106GB02
DX100 controller
Sub
Code
003 Sent buffer FULL (The Connection (1)Reset the alarm.(In case of major alarm, turn
first digit shows the failure the power OFF then back ON.)
and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
Converter failure Replace the converter.

board to be safe.

004 CRC-16 error (The first Connection (1)Reset the alarm.(In case of major alarm, turn
digit shows the failure the power OFF then back ON.)
and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.

E1102000106GB02 175
DX100 controller
Sub
Code
005 Error code received Connection (1)Reset the alarm.(In case of major alarm, turn
(The first digit shows the failure the power OFF then back ON.)
converter No) (2)If the alarm occurs again, check the
and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.

006 Received command Connection (1)Reset the alarm.(In case of major alarm, turn
error (The first digit failure the power OFF then back ON.)
shows the converter (2)If the alarm occurs again, check the
No.) connection and insertion of the following cables
and connectors.
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.

176 E1102000106GB02
DX100 controller
4.0.58 SAFE CIRCUIT SIGNAL NOT SAME(SV)
Sub
Code
Sub Code: XYY (Signifies the power-ON Connection Check if the unmatched two double-
unit No. and unmatched signal No.) failure checked signals are in agreement.
X: Power-ON unit
0: Power-ON unit1 (TU#1)
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 unmatched input signal
for the OT recovery
65: Error due to unmatched input signal for Connection Check if the unmatched two double-
the external WDT faillure checked signals are ub agreement.
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.
E1102000106GB02 177
DX100 controller
4.0.59 POWER LOST DETECTION(EAXA01/02)
Sub
Code
Instant power Check if the primary power supply voltage is

failure dropping.
4.0.60 CPU Error (YCP01)
Sub
Code
1 An error was detected in YCP01 board (1)Turn the power OFF then back ON.
the CPU. failure (2)If the alarm occurs again, replace the YCP01
occurred.
4.0.61 POWER ON UNIT TYPE MISMATCH
Sub
Code
178 E1102000106GB02
DX100 controller
4.0.62 SERIAL ENCODER CORRECTION ERROR
Sub
Code
and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

board to be safe.
E1102000106GB02 179
DX100 controller
4.0.63 SERIAL ENC MULTITURN LIMIT ERROR
Sub
Code
and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

board to be safe.
4.0.64 SPECIFIED AXIS ERROR
Sub
Code
Setting error Check the job setting.
180 E1102000106GB02
DX100 controller
4.0.65 PRESS ERROR
Sub
Code
Setting error Check the job setting.
4.0.66 PA NOT INSTALLED
Sub
Code
Connection Check the inserting and connection of

failure prealigner.
4.0.67 ENCODER ERROR (CONVEYOR)
Sub
Code
4.0.68 CANNOT CHANGE CONVEYOR MODE
Sub
Code
E1102000106GB02 181
DX100 controller
4.0.69 WORK IN/NOT DATA CNT. LMT. OVER
Sub
Code
4.0.70 WORK IN/NOT SHIFT DATA POS LMT.
Sub
Code
4.0.71 WORK ID. DATA CNT. LMT. OVER
Sub
Code
4.0.72 WORK ID. SHIFT DATA POS LMT.
Sub
Code
182 E1102000106GB02
DX100 controller
4.0.73 START SHIFT DATA CNT. LMT. OVER
Sub
Code
4.0.74 START SHIFT DATA POS LMT.
Sub
Code
4.0.75 SYSTEM ERROR (BENDING)
Sub
Code
4.0.76 ENCODER ERROR (LNR SCALE)
Sub
Code
E1102000106GB02 183
DX100 controller
4.0.77 CANNOT CHANGE ENCODER INPUT
Sub
Code
4.0.78 PRESS ENCODER ERROR
Sub
Code
4.0.79 PRESS DATA RECEIVING ERROR
Sub
Code
4.0.80 PRESS ENCODER DATA ERROR
Sub
Code
184 E1102000106GB02
DX100 controller
4.0.81 SAFETY CIRCUIT FAULT(SERVO I/O)
Sub
Code
Circuit board (1)Reset the alarm.

failure(YPU unit) (2)If the alarm occurs again, replace the YPU
unit. Save the CMOS.BIN before replace the
board to be safe.
4.0.82 SVMX RELAY STICKING (SERVO I/O)
Sub
Code

board to be safe.
4.0.83 CONTACTOR STICKING (SERVO I/O)
Sub
Code

board to be safe.
E1102000106GB02 185
DX100 controller
4.0.84 SAFETY CIRCUIT IN FAULT(SV I/O)
Sub
Code

board to be safe.
4.0.85 TUSON RELAY STICKING (SERVO I/O)
Sub
Code

board to be safe.
4.0.86 BROKEN CONTACTOR FUSE(SERVO I/O)
Sub
Code

board to be safe.
186 E1102000106GB02
DX100 controller
4.0.87 BROKEN S_ON FUSE(SERVO I/O)
Sub
Code

board to be safe.
4.0.88 SAFETY CIRCUIT WDT ERROR (SV I/O)
Sub
Code

board to be safe.
4.0.89 EXTERNAL WDT OVER(SERVO I/O)
Sub
Code

board to be safe.
E1102000106GB02 187
DX100 controller
4.0.90 EXTERNAL WDT BROKEN (SERVO I/O)
Sub
Code

board to be safe.
4.0.91 COMMUNICATION ERR (PLDs)(SERVO I/O)
Sub
Code

board to be safe.
4.0.92 POWER SUPPLY FAN ERROR (SERVO)
Sub
Code
Connection Check the power supply cable of the cooling fan

failure in the CPS power unit.
CPS module Check the cooling fan in the CPS power unit is
failure working.
Replace the CPS power unit.
Install failure Check that the air inlet or outlet is not blocked.
188 E1102000106GB02
DX100 controller
4.0.93 POWER SUPPLY OVERHEAT (SERVO)
Sub
Code
controller
Connection Check the power supply cable of the cooling fan

failure in the CPS power unit.
CPS module Replace the CPS power unit.

failure
4.0.94 OVERHEAT (AMPLIFIER)
Sub
Code
of amplifier rose. the amplifier.
4.0.95 SON_OUT RELAY STICKING (SERVO I/O)
Sub
Code

board to be safe.
E1102000106GB02 189
DX100 controller
4.0.96 BRRCER RELAY STICKING (SERVO I/O)
Sub
Code

board to be safe.
4.0.97 ABSOLUTE DATA ERROR (SERVO2)
Sub
Code

failure (YPU (2)If the alarm occurs again, replace the YPU
unit) unit. Save the CMOS.BIN before replace the
board to be safe.

(motor) the power OFF then back ON.)
(2)If the alarm occurs again, replace the motor.

(SERVOPACK) the power OFF then back ON.)
SERVOPACK.
4.0.98 GATE ARRAY 1 ERROR (SERVO2)
Sub
Code

SERVOPACK
190 E1102000106GB02
DX100 controller
4.0.99 GATE ARRAY 2 ERROR (SERVO2)
Sub
Code

SERVOPACK
4.0.100 ABSOLUTE ENCODER ERROR (SERVO2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.
Noise Check the noise source and take

interference countermeasures to reduce the noise.

SERVOPACK
E1102000106GB02 191
DX100 controller
4.0.101 GROUND FAULT (SERVO2)
Sub
Code
Ground fault Check if a ground fault has not occurred in the

U-, V-, and W-phase of motor power line, or
short circuit has not occurred between these
phases.


SERVOPACK.
4.0.102 WATCHDOG DETECTOR ERROR (SERVO2)
Sub
Code

SERVOPACK.
4.0.103 CURRENT FB ERROR (U PHASE)( SV2)
Sub
Code
Connection Check the connection of motor power line.

failure

SERVOPACK.
192 E1102000106GB02
DX100 controller
4.0.104 CURRENT FB ERROR (V PHASE)(SV2)
Sub
Code

failure

SERVOPACK.
4.0.105 INCR ENCODER INIT PULSE ERR(SV2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.


SERVOPACK.
E1102000106GB02 193
DX100 controller
4.0.106 SERVO ON COMMAND INVALID (SERVO2)
Sub
Code
Setting error Replace the SERVOPACK.
4.0.107 VIBRATION DETECT (SERVO2)
Sub
Code
Setting error Check the settings for robot motion condition

(influence by external force, load condition).

board to be safe.
4.0.108 FC SERIAL ENCODER SUM ERROR(SV2)
Sub
Code
Module failure Replace the serial conversion unit.

(serial
conversion unit)

encoder.

SERVOPACK.
194 E1102000106GB02
DX100 controller
4.0.109 FC SERIAL ENCODER DATA ERR(SV2)
Sub
Code

(serial
conversion unit)

encoder.

SERVOPACK.
4.0.110 MODULE ERROR (SERVO2)
Sub
Code

SERVOPACK.
4.0.111 FC SERIAL ENCODE SCALE ERR(SV2)
Sub
Code

(serial
conversion unit)

SERVOPACK.
E1102000106GB02 195
DX100 controller
4.0.112 FC SERIAL CONVERT COMM ERR(SV2)
Sub
Code
Connection Check the insertion and connection of the

failure followings.
Serial conversion unit
Cable between SERVOPACKs.


(serial
conversion unit)

SERVOPACK.
4.0.113 COMMUNICATION SET ERR (ML2)(SV2)
Sub
Code
The transmission cycle Setting error Check the transmission cycle setting of
setting of MECHATROLINK communication.
MECHATROLINK
communication is
incorrect.
4.0.114 CURRENT FEEDBACK ERROR
Sub
Code

phases.
196 E1102000106GB02
DX100 controller
Sub
Code

amplifier.

4.0.115 MEMORY ERROR (PARAMETER) (SERVO2)
Sub
Code

SERVOPACK.
4.0.116 PRIMARY CIRCUIT DETECT ERR (SV2)
Sub
Code

SERVOPACK.
4.0.117 PARAMETER ERROR (SERVO2)
Sub
Code
Setting error Check the parameter settings.

SERVOPACK.
E1102000106GB02 197
DX100 controller
4.0.118 COMBINATION ERROR (SERVO2)
Sub
Code
Setting error Compare the rated current of the SERVOPACK

and the motor referring to each model, and
check whether it is possible to apply by
specifications.

SERVOPACK.
4.0.119 OVERCURRENT (SERVO2)
Sub
Code

phases.
controller



SERVOPACK.
198 E1102000106GB02
DX100 controller
4.0.120 ENCODER BACK-UP ERROR (SERVO2)
Sub
Code
Voltage failure Check the voltage of the encoder backup

battery.
Connection Check the insertion and connection of the

failure followings.
Encoder backup battery
Between encoders

encoder.

SERVOPACK.
Voltage failure Check the voltage of the encoder backup

battery.
4.0.121 DEFECTIVE ENCODER IN-DATA(SV2)
Sub
Code

encoder.

SERVOPACK.
E1102000106GB02 199
DX100 controller
4.0.122 DEFECTIVE ENCODER ABSO DATA(SV2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

SERVOPACK.
4.0.123 ENCODER OVER SPEED (SERVO2)
Sub
Code

encoder.

SERVOPACK.
200 E1102000106GB02
DX100 controller
4.0.124 GATE ARRAY ERROR (SERVO2)
Sub
Code

SERVOPACK.
4.0.125 SYSTEM ERROR (SERVO2)
Sub
Code

encoder.
4.0.126 BROKEN PG LINE (A/B PHASE)(SV2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536



SERVOPACK.
E1102000106GB02 201
DX100 controller
4.0.127 BROKEN PG LINE (C PHASE)(SV2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536



SERVOPACK.
4.0.128 MULTITURN LIMIT SET ERROR(SV2)
Sub
Code


SERVOPACK.
202 E1102000106GB02
DX100 controller
4.0.129 COMMUNICATION ERR (ENCODER)(SV2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536



SERVOPACK.

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
4.0.130 PARAMETER ERROR (ENCODER) (SERVO2)
Sub
Code

E1102000106GB02 203
DX100 controller
Sub
Code

SERVOPACK.
4.0.131 ECHOBACK ERROR (ENCODER) (SERVO2)
Sub
Code

and connectors.
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536



SERVOPACK.
4.0.132 MULTITURN LIMIT NOT SAME (SERVO2)
Sub
Code

SERVOPACK.
204 E1102000106GB02
DX100 controller
4.0.133 OPTION NOT SPECIFIED (SERVO2)
Sub
Code

SERVOPACK.
4.0.134 OPTION TIMEOUT (SERVO2)
Sub
Code

SERVOPACK.
4.0.135 OPTION WDC ERROR (SERVO2)
Sub
Code
4.0.136 COMMUNICATION WDT ERROR (SERVO2)
Sub
Code

SERVOPACK.
E1102000106GB02 205
DX100 controller
4.0.137 COMMUNICATION ERROR (SERVO2)
Sub
Code
Connection Check the connection of MECHATROLINK

failure communication cable.


SERVOPACK.
4.0.138 SERVOPACK BROKEN (SERVO2)
Sub
Code

SERVOPACK.
4.0.139 INITIAL ACCESS ERROR (SERVO2)
Sub
Code

SERVOPACK.
206 E1102000106GB02
DX100 controller
4.0.140 SERVOPACK WDC EROOR (SERVO2)
Sub
Code

SERVOPACK.
4.0.141 COMMAND NOT EXECUTE (SERVO2)
Sub
Code

SERVOPACK.
4.0.142 MAIN CIRCUIT ANSWER ERROR(SV2
Sub
Code

SERVOPACK.
4.0.143 SERVO MOTOR DISCONNECTION (SV2)
Sub
Code

failure
E1102000106GB02 207
DX100 controller
Sub
Code


SERVOPACK.
4.0.144 SERVO MOTOR DISCONNECTION 2(SV2)
Sub
Code

failure


SERVOPACK.
4.0.145 OPTION I/F ERROR (SERVO2)
Sub
Code

SERVOPACK.
208 E1102000106GB02
DX100 controller
4.0.146 NS600 ERROR (SERVO2)
Sub
Code

SERVOPACK.
4.0.147 CURRENT DETECTION ERROR (SERVO2)
Sub
Code

failure


SERVOPACK.
4.0.148 PHASE DETECTION ERROR (SERVO2)
Sub
Code
Connection Check the connection of Cable between

failure encoders.



SERVOPACK.
E1102000106GB02 209
DX100 controller
4.0.149 POLE DETECTION ERROR (SERVO2)
Sub
Code

SERVOPACK.
4.0.150 MOTOR LOAD POSITION ERROR (SV2
Sub
Code
Connection Check the connection of mechanical

failure combination.
4.0.151 EXCEEDED POSITION DATA (SERVO2)
Sub
Code

( SERVOPACK) the power OFF then back ON.)
SERVOPACK.
4.0.152 SCALE PITCH SETTING ERROR(SV2)
Sub
Code

SERVOPACK.
210 E1102000106GB02
DX100 controller
4.0.153 DIVIDING RATIO SETTING ERROR(SV2)
Sub
Code

SERVOPACK.
4.0.154 ENCODER MODEL UNMATCH (SERVO2)
Sub
Code
Module failure Check the parameter setting, and then if it is

(encoder) normal, replace the encoder.
4.0.155 MC POWER SUPPLY WIRING ERR(SV2)
Sub
Code
Connection Check the connection of power supply of AC/

failure DC.
Regenerative Replace the regenerative resistor.

resistor failure

SERVOPACK.
E1102000106GB02 211
DX100 controller
4.0.156 LINEAR MOTOR MAX SPEED SET(SV2)
Sub
Code

SERVOPACK.
4.0.157 MONITOR PLD ERROR 1 (SERVO I/O)
Sub
Code

board to be safe.
Sub
Code

board to be safe.
Sub
Code

board to be safe.
212 E1102000106GB02
DX100 controller
4.0.160 FILE TRANSFER DATA ERROR (SV)
Sub
Code
1 An error occurred when Software (1)Reset the alarm.(In case of major alarm, turn
the last data was not operation error the power OFF then back ON.)
received during the first occurred (2)If the alarm occurs again, save the
data communication at CMOS.BIN in maintenance mode, and then
execution of motion contact your YASKAWA representative about
command. occurrence status (operating 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.
(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 first data was not failure the power OFF then back ON.)
received during on the (2)If the alarm occurs again, replace the EAXA
way data board. Save the CMOS.BIN before replace the
communication at board to be safe.
execution of motion
command.
3 An error occurred when EAXA board (1)Reset the alarm.(In case of major alarm, turn
the first data was not failure the power OFF then back ON.)
received during the last (2)If the alarm occurs again, replace the EAXA
data communication at board. Save the CMOS.BIN before replace the
execution of motion board to be safe.
command.
E1102000106GB02 213
DX100 controller
4.0.161 FILE TRANSFER DATA SIZE ERR (SV)
Sub
Code
1 The data size for the file EAXA board (1)Reset the alarm.(In case of major alarm, turn
transfer does not agree failure the power OFF then back ON.)
with the received buffer (2)If the alarm occurs again, replace the EAXA
size. board. 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
board to be safe.
4.0.162 DB ON ERROR (SERVO)
Sub
Code

board to be safe.

214 E1102000106GB02
DX100 controller
4.0.163 BASE BLOCK SIGNAL ERROR(SERVO)
Sub
Code

board to be safe.


amplifier.
4.0.164 PG POWER ON MULTIPLE REQ (SV)
Sub
Code
Setting error Check if the PICK instruction was executed

again for the axis where executed the PICK
instruction in the gun change system.
4.0.165 CONVERTER COMMAND ERROR (SV)
Sub
Code

SERVOPACK.
E1102000106GB02 215
DX100 controller
4.0.166 AXIS ENDLESS INFO NOT GENERATED(SV)
Sub
Code

(1)Turn the power OFF then back ON.
(2)If the error occurs again, contact your
YASKAWA representative.
4.0.167 AXIS ENDLESS SPECIFIC. ERR(SV)
Sub
Code
1 The home position Setting error Disable either the axis endless function or the
detecting function was home position detection function of
used for the axis for corresponding axis.
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
was used for the axis for servo float function of corresponding axis.
which the axis endless
The servo float function
axis which the axis
enabled.
3 The encoders Setting error Disable the corresponding axis endless

manufactured by function.
Tamagawa Seiki Co.,
Ltd. was used for the
axis for which the axis
enabled.
The encoders
manufactured by
Tamagawa Seiki Co.,
Ltd. cannot be used for
the axis which the axis
enabled.
216 E1102000106GB02
DX100 controller
Sub
Code
4 The general servo Setting error Disable the corresponding axis endless
function was used for function.
the axis for which the
axis endless function
was enabled.
The general servo
function cannot be used
for the axis which the
axis endless function
was enabled.
4.0.168 REDUCTION STOP SPECIFIC. ERR(SV)
Sub
Code
1 The servo float function Setting error Check the JOB.

was used for the axis for
which the deceleration
stop function was
enabled.
The servo float function
axis which the
deceleration stop
2 The specified axis Setting error Check the JOB.

speed control function
was executed for the
axis which the
deceleration stop
Specified axis speed
control function cannot
be used for the axis
which the deceleration
stop function was
enabled.
E1102000106GB02 217
DX100 controller
4.0.169 MOTOR GUN CHANGE PG PWR ON ERR(SV)
Sub
Code

4.0.170 MOTOR GUN CHANGE SV ON ERR(SV)
Sub
Code

4.0.171 MOTOR GUN COND. FILE NO. ERR(SV)
Sub
Code
File setting error Check the gun condition file.
4.0.172 MOTOR GUN PRESS FILE NO. ERR(SV)
Sub
Code
218 E1102000106GB02
DX100 controller
4.0.173 WRONG MOTOR GUN PRESS AXIS (SV)
Sub
Code
4.0.174 MICRO PRG EXECUTE TIME OVER(SV)
Sub
Code

board to be safe.
4.0.175 MICRO PROGRAM SYNC. ERROR (SV)
Sub
Code

board to be safe.
E1102000106GB02 219
DX100 controller
4.0.176 FILE RECEIVE INCOMPLETE (SERVO)
Sub
Code

board to be safe.
4.0.177 RESOLUTION CONVERSE CONST ERR(SV)
Sub
Code

board to be safe.
4.0.178 CANNOT GENERATE GENERAL CMD (SV)
Sub
Code

board to be safe.
220 E1102000106GB02
DX100 controller
4.0.179 GENERAL SERVO CMD CODE ERR (SV)
Sub
Code

board to be safe.
4.0.180 GENERAL SERVO SETTING ERROR (SV)
Sub
Code

board to be safe.
4.0.181 GENERAL SV ALARM CODE ERROR (SV)
Sub
Code

board to be safe.
E1102000106GB02 221
DX100 controller
4.0.182 GRP CHANGE PG POWER ON ERR (SV)
Sub
Code
Sub Code: Signifies the Setting error Check the JOB.

axis in which the alarm
occurred
4.0.183 GRP CHANGE SERVO ON ERROR (SV)
Sub
Code
Sub Code: Signifies the Setting error Check the JOB.

occurred
4.0.184 CTRL LAW SWITCHING ORDER ERR (SV)
Sub
Code

board to be safe.
222 E1102000106GB02
DX100 controller
4.0.185 ASE BLOCK READ SIGNAL ERR (SV)
Sub
Code

board to be safe.
4.0.186 BASE BLOCK WRITE SIGNAL ERR (SV)
Sub
Code

board to be safe.
4.0.187 U.PROG. BB READ SIG INCONSIST(SV)
Sub
Code

board to be safe.
E1102000106GB02 223
DX100 controller
4.0.188 MOTOR CMD POSITION ERROR (SV)
Sub
Code

board to be safe.
4.0.189 EXTERNAL BRAKE FUSE BROWN(SV)
Sub
Code
YBK board Replace the YBK01 fuse.

failure
4.0.190 GENERAL I/O FUSE BROWN(SV)
Sub
Code

board to be safe.
4.0.191 BRAKE POWER ERROR(SV)
Sub
Code
YBK board Check the power source of YBK01, and then if

failure no fault is found, replace the brake unit.
224 E1102000106GB02
DX100 controller
4.0.192 EXTERNAL BRAKE POWER ERROR(SV)
Sub
Code
YBK board Check the external axis brake of YBK01 in the

failure power source, and then if no fault is found,
replace the brake unit.
4.0.193 INSTANT POWER FAILURE (TRQ)(SV)
Sub
Code
The instant power Voltage failure Check if the primary power supply voltage is
failure occurred and dropping.
then the torque was
saturated.
Power failure Check if the instant power failure has occurred.
4.0.194 INSTANT POWER FAILURE (TIME)(SV)
Sub
Code
The instant power Voltage failure Check if the primary power supply voltage is
failure occurred for dropping.
longer than the certain
time period.
Power failure Check if the instant power failure has occurred.
4.0.195 POS.DEVITATION SATURATING ERR(SV)
Sub
Code

E1102000106GB02 225
DX100 controller
Sub
Code
Interference Remove interference of the robot.

error

failure

board to be safe.

amplifier.

4.0.196 M-SAFETY SYSTEM ERROR (CPU1)
Sub
Code
13 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
board is different unit. Save the CMOS.BIN before replace the
between the CPU1 and YSU unit to be safe.
the CPU2 of the YSU
unit.
the CPU2 of the YSU
unit in coordinated
control system.
226 E1102000106GB02
DX100 controller
4.0.197 SV M-SAFETY BROKEN LINE(CPU1)
Sub
Code
0 The communication Connection (1)Turn the power OFF then back ON.
between the EAXA failure (2)If the alarm occurs again, check the
board and the YSU unit connection of the following communication
are disconnected. cables.
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.
connector)
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.
4.0.198 M-SAFETY INITIALIZE ERROR(CPU1)
Sub
Code
0 Failed to initialize the YSU unit failure (1)Turn the power OFF then back ON.
CPU1 when the control (2)If the alarm occurs again, replace the YSU
power turned ON. unit. Save the CMOS.BIN before replace the
YSU unit to be safe.
4.0.199 M-SAFETY CPU ERROR(CPU1)
Sub
Code
0 Watch dog time out YSU unit failure (1)Turn the power OFF then back ON.
occurred in the CPU1 of (2)If the alarm occurs again, replace the YSU
the YSU unit. unit. Save the CMOS.BIN before replace the
E1102000106GB02 227
DX100 controller
Sub
Code
occurred in the CPU1 in (2)If the alarm occurs again, replace the YSU
mutual monitoring of the unit. Save the CMOS.BIN before replace the
CPU1 and the CPU2. YSU unit to be safe.
4.0.200 M-SAFETY SELF CHECK ERROR (CPU1)
Sub
Code
0 When the controller YSU unit failure (1)Turn the power OFF then back ON.
power turned ON, CPU1 (2)If the alarm occurs again, replace the YSU
detected an error in the unit. Save the CMOS.BIN before replace the
watchdog detection YSU unit to be safe.
circuit.
4.0.201 SV M-SAFETY NO COMMUNICATE (CPU1)
Sub
Code
error (loop back error) failure (2)If the alarm occurs again, check the
occurred in the EAXA connection of the following communication
board of rotary switch cables.
was set to "0". The communication cable between EAXA
connector)
connector)
228 E1102000106GB02
DX100 controller
Sub
Code

failure (2)After replacement the YSU unit, and then if
the alarm occurred again, replace the EAXA
EAXA board to be safe.
connector)
connector)

connector)
connector)

E1102000106GB02 229
DX100 controller
Sub
Code
connector)
connector)

connector)
connector)

230 E1102000106GB02
DX100 controller
Sub
Code
connector)
connector)

connector)
connector)

E1102000106GB02 231
DX100 controller
Sub
Code
connector)
connector)

11 The communication YSU unit failure (1)Turn the power OFF then back ON.
error occurred between (2)If the alarm occurs again, replace the YSU
the EAXA board and the unit. Save the CMOS.BIN before replace the
YSU unit. YSU unit to be safe.
control IC of YSU unit (2)If the alarm occurs again, replace the YSU
detected the error. unit. Save the CMOS.BIN before replace the
232 E1102000106GB02
DX100 controller
4.0.202 SV M-SAFETY CRC ERROR(CPU1)
Sub
Code
0 Connection (1)Turn the power OFF then back ON.

connection of the following communication
cables.
connector)
connector)

4.0.203 M-SAFETY SLAVE TIME OUT(CPU1)
Sub
Code
1 There is the EAXA Connection (1)Turn the power OFF then back ON.
board for display of the failure (2)If the alarm occurs again, check the
7 segment LED(DS1) of connection of the following communication
EAXA board is not "d" cables.
(on-line process). The communication cable between EAXA
connector)
connector)
E1102000106GB02 233
DX100 controller
Sub
Code

connector)
connector)

4.0.204 M-SAFETY SLAVE UNDEFINED (CPU1)
Sub
Code
0 Setting error Correct the set value in maintenance mode.
234 E1102000106GB02
DX100 controller
4.0.205 M-SAFETY POWER VOLT ERROR(CPU2)
Sub
Code
0000_ CPU1 detected the 3.3V Blown fuse (1)Turn the power OFF then back ON.
1100 over voltage in the (2)If the alarm occurs again, check the
CPU2. followings.
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 CMOS.BIN before replace the YSU
unit to be safe.
0000_ CPU1 detected the 3.3V YSU unit failure (1)Turn the power OFF then back ON.
1010 low voltage in the (2)If the alarm occurs again, replace the YSU
CPU2. unit. Save the CMOS.BIN before replace the
0000 CPU1 detected 24V Connection (1)Turn the power OFF then back ON.
_ power supply voltage failure (2)If the alarm occurs again, check the
0110 error in the CPU2. connection of the 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 a (1)Turn the power OFF then back ON.

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.
E1102000106GB02 235
DX100 controller
4.0.206 M-SAFETY UNIT LINK ERROR(CPU1)
Sub
Code
1 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
detected. followings.
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.
other YSU unit.
4.0.207 M-SAFETY SYSTEM ERROR (CPU2
Sub
Code
the CPU2 of the YSU
unit.
the CPU2 of the YSU
unit in coordinated
control system.
236 E1102000106GB02
DX100 controller
4.0.208 SV M-SAFETY BROKEN LINE(CPU2)
Sub
Code
between the EAXA failure (2)If the alarm occurs again, check the
board and the YSU unit connection of the following communication
are disconnected. cables.
connector)
connector)
4.0.209 M-SAFETY INITIALIZE ERROR(CPU2)
Sub
Code
Failed to initialize the YSU unit failure (1)Turn the power OFF then back ON.
CPU2 when the control (2)If the alarm occurs again, replace the YSU
power turned ON. unit. Save the CMOS.BIN before replace the
4.0.210 M-SAFETY CPU ERROR(CPU2)
Sub
Code
occurred in the CPU2 of (2)If the alarm occurs again, replace the YSU
the YSU unit. unit. Save the CMOS.BIN before replace the
E1102000106GB02 237
DX100 controller
Sub
Code
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
monitoring of the CPU1 unit. Save the CMOS.BIN before replace the
and the CPU2. YSU unit to be safe.
4.0.211 M-SAFETY SELF CHECK ERROR(CPU2)
Sub
Code
0 When the controller YSU unit failure (1)Turn the power OFF then back ON.
power turned ON, CPU2 (2)If the alarm occurs again, replace the YSU
detected an error in the unit. Save the CMOS.BIN before replace the
watchdog detection YSU unit to be safe.
circuit.
4.0.212 SV M-SAFETY NO COMMUNICATE (CPU2)
Sub
Code
connector)
connector)
238 E1102000106GB02
DX100 controller
Sub
Code

connector)
connector)

connector)
connector)

E1102000106GB02 239
DX100 controller
Sub
Code
connector)
connector)

connector)
connector)

240 E1102000106GB02
DX100 controller
Sub
Code
connector)
connector)

connector)
connector)

E1102000106GB02 241
DX100 controller
Sub
Code
connector)
connector)

control IC of YSU unit (2)If the alarm occurs again, replace the YSU
detected the error. unit. Save the CMOS.BIN before replace the
242 E1102000106GB02
DX100 controller
4.0.213 SV M-SAFETY CRC ERROR(CPU2)
Sub
Code
0 Connection (1)Turn the power OFF then back ON.

connection of the following communication
cables.
connector)
connector)

4.0.214 M-SAFETY SLAVE TIME OUT(CPU2
Sub
Code
connector)
connector)
E1102000106GB02 243
DX100 controller
Sub
Code

connector)
connector)

4.0.215 M-SAFETY SLAVE UNDEFINED (CPU2)
Sub
Code
0 Setting error Correct the set value in maintenance mode.
244 E1102000106GB02
DX100 controller
4.0.216 M-SAFETY POWER VOLT ERROR(CPU1)
Sub
Code
0000_ CPU2 detected the 3.3V Blown fuse (1)Turn the power OFF then back ON.
1101 over voltage in the (2)If the alarm occurs again, check the
CPU1. followings.
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.
unit to be safe.
0000_ CPU2 detected the 3.3V YSU unit failure (1)Turn the power OFF then back ON.
1011 low voltage in the (2)If the alarm occurs again, replace the YSU
CPU1. unit. Save the CMOS.BIN before replace the
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
error in the CPU1. connection of the 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 a (1)Turn the power OFF then back ON.

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 (2)After replacement the fuse, and then if the
CPU1. alarm occurred again, replace the YSU unit.
unit to be safe.
E1102000106GB02 245
DX100 controller
4.0.217 M-SAFETY UNIT LINK ERROR (CPU2)
Sub
Code
other YSU unit.
other YSU unit.
Sub
Code

Sub
Code

246 E1102000106GB02
DX100 controller
Sub
Code

Sub
Code

Sub
Code

E1102000106GB02 247
DX100 controller
5 Alarm series 4000
5.0.1 MEMORY ERROR (TOOL FILE)
5.0.1.1 Alarm No. 4000
Sub
Code
Sub Code: Tool number Data error (1)Reset the alarm.

(2)If the alarm occurs again, initialize the tool
file in maintenance mode, and then load the
tool file saved in the external memory device.
YCP01 board (1)Reset the alarm.

YCP01 board, and then insert the CF card
which inserted original YCP01 board into the
new YCP01 board.

(2)If the alarm occurs again, replace the YIF
board. Save the CMOS.BIN before replace
the board to be safe. Replace the YIF board,
and then load the CMOS.BIN saved before
alarm occurred.
5.0.2 MEMORY ERROR (USER COORD FILE)
Sub
Code
Sub Code: User Data error (1)Reset the alarm.

coordinate number (2)If the alarm occurs again, initialize the user
coordinates file in maintenance mode, and then
load the user coordinates file saved in the
external memory device.

and then insert the CF card which inserted
original YCP01 board into the new YCP01
board.
248 E1102000106GB02
DX100 controller
Sub
Code

board to be safe. Replace the YIF board, and
occurred.
5.0.3 MEMORY ERROR (SV MON SIGNAL FILE)
Sub
Code
Data error (1)Reset the alarm.

(2)If the alarm occurs again, initialize the servo
monitor signal file in maintenance mode, and
then load the servo monitor signal file saved in
the external memory device.

board.

occurred.
5.0.4 MEMORY ERROR (WEAVING FILE)
Sub
Code
Sub Code: Page Data error (1)Reset the alarm.

number (2)If the alarm occurs again, initialize the
weaving condition file in maintenance mode,
and then load the weaving condition file saved
in the external memory device.
E1102000106GB02 249
DX100 controller
Sub
Code

board.

occurred.
5.0.5 MEMORY ERROR (HOME POS FILE)
Sub
Code

(2)If the alarm occurs again, initialize the home
positioning file in maintenance mode, and then
load the home positioning file saved in the

board.

occurred.
250 E1102000106GB02
DX100 controller
5.0.6 MEMORY ERROR (SECOND HOME POS)
Sub
Code

second home positioning file in maintenance
mode, and then load the second home
positioning file saved in the external memory
device.

board.

occurred.
5.0.7 MEMORY ERROR (POWER SOURCE COND)
Sub
Code

number (2)If the alarm occurs again, initialize the arc
welding Power Source condition file in
maintenance mode, and then load the arc
welding Power Source condition file saved in

board.
E1102000106GB02 251
DX100 controller
Sub
Code

occurred.
5.0.8 MEMORY ERR (ARC START COND FILE)
Sub
Code

start condition file in maintenance mode, and
then load the arc start condition file saved in the

board.

occurred.
5.0.9 MEMORY ERROR (ARC END COND FILE)
Sub
Code

end condition file in maintenance mode, and
then load the arc end condition file saved in the
252 E1102000106GB02
DX100 controller
Sub
Code

board.

occurred.
5.0.10 MEMORY ERROR (ARC AUX COND FILE)
Sub
Code

auxiliary condition file in maintenance mode,
and then load the arc auxiliary condition file

board.

occurred.
E1102000106GB02 253
DX100 controller
5.0.11 MEMORY ERROR (COM-ARC3 COND FILE)
Sub
Code

number (2)If the alarm occurs again, initialize the COM-
ARC condition file in maintenance mode, and
then load the COM-ARC condition file saved in

board.

occurred.
5.0.12 MEMORY ERROR (LINK SERVOFLOAT)
Sub
Code
Sub Code: Condition file Data error (1)Reset the alarm.

number (2)If the alarm occurs again, initialize the link
servo float condition file in maintenance mode,
and then load the link servo float condition file

board.

occurred.
254 E1102000106GB02
DX100 controller
5.0.13 MEMORY ERROR (LINEAR SERVOFLOAT)
Sub
Code
Sub Code: Condition file Data error (1)Reset the alarm.

number (2)If the alarm occurs again, initialize the linear
servo float condition file in maintenance mode,
and then load the linear servo float condition file

board.

occurred.
5.0.14 MEMORY ERROR (ROBOT CALIB FILE)
Sub
Code

number (2)If the alarm occurs again, initialize the file for
calibration between robots in maintenance
mode, and then load the file for calibration
between robots saved in the external memory
device.

board.

occurred.
E1102000106GB02 255
DX100 controller
5.0.15 MEMORY ERROR (POWER SRC USER-DEF)
Sub
Code

(2)If the alarm occurs again, initialize the Power
Source user definition file in maintenance mode,
and then load the Power Source user definition
file saved in the external memory device.

board.

occurred.
5.0.16 MEMORY ERR (LADDER PRG FILE)
Sub
Code

(2)If the alarm occurs again, initialize the ladder
program file in maintenance mode, and then
load the ladder program file saved in the

board.

occurred.
256 E1102000106GB02
DX100 controller
5.0.17 MEMORY ERROR (CUTTING COND FILE)
Sub
Code

number (2)If the alarm occurs again, initialize the cutting
condition file in maintenance mode, and then
load the cutting condition file saved in the

board.

occurred.
5.0.18 MEMORY ERROR (OPERATION ORIGIN)
Sub
Code

(2)If the alarm occurs again, initialize the work
home position file in maintenance mode, and
then load the work home position file saved in

board.

occurred.
E1102000106GB02 257
DX100 controller
5.0.19 MEMORY ERROR (CONVEYOR COND FILE)
Sub
Code

conveyor condition file in maintenance mode,
and then load the conveyor condition file saved

board.

occurred.
5.0.20 MEMORY ERROR (PAINT SPECIAL FILE)
Sub
Code

number (2)If the alarm occurs again, initialize the paint
special file in maintenance mode, and then load
the paint special file saved in the external
memory device.

board.

occurred.
258 E1102000106GB02
DX100 controller
5.0.21 MEMORY ERROR (PAINT COND FILE)
Sub
Code

number (2)If the alarm occurs again, initialize the paint
load the paint condition file saved in the external
memory device.

board.

occurred.
5.0.22 MEMORY ERR(WRIST WEAV AMP FILE)
Sub
Code
1 Data error (1)Reset the alarm.

(2)If the alarm occurs again, initialize the wrist
weaving amplitude file in maintenance mode,
and then load the wrist weaving amplitude file

board.

occurred.
E1102000106GB02 259
DX100 controller
5.0.23 MEMORY ERROR (INTERRUPT JOB FILE)
Sub
Code

interrupt job file in maintenance mode, and then
load the interrupt job file saved in the external
memory device.

board.

occurred.
5.0.24 MEMORY ERR (SENSOR MON COND FILE)
Sub
Code

(2)If the alarm occurs again, initialize the sensor
monitoring condition file in maintenance mode,
and then load the sensor monitoring condition

board.

occurred.
260 E1102000106GB02
DX100 controller
5.0.25 MEMORY ERR(PRESS COND DATA FILE)
Sub
Code
Sub Code: File number Data error (1)Reset the alarm.

(2)If the alarm occurs again, initialize the press
load the press condition file saved in the

board.

occurred.
5.0.26 MEMORY ERROR (SPOT GUN COND FILE)
Sub
Code

(2)If the alarm occurs again, initialize the gun
load the gun condition file saved in the external
memory device.

board.

occurred.
E1102000106GB02 261
DX100 controller
5.0.27 MEMORY ERROR (SPOT WELDER COND)
Sub
Code

(2)If the alarm occurs again, initialize the spot
welding gun condition file in maintenance mode,
and then load the spot welding gun condition file

board.

occurred.
5.0.28 MEMORY ERROR (GUN PRESSURE FILE)
Sub
Code

board to be safe.

board to be safe.

board to be safe.
262 E1102000106GB02
DX100 controller
5.0.29 MEMORY ERROR (ANTICIPATION OT FILE)
Sub
Code

anticipation outputs file in maintenance mode,
and then load the anticipation outputs file saved

board.

occurred.
5.0.30 MEMORY ERR(ANTICIPATION OG FILE)
Sub
Code

anticipation outputs file in maintenance mode,
and then load the anticipation outputs file saved

board.

occurred.
E1102000106GB02 263
DX100 controller
5.0.31 MEMORY ERROR (WEARING FILE)
Sub
Code

(2)If the alarm occurs again, initialize the wear
amount file in maintenance mode, and then load
the wear amount file saved in the external
memory device.

board.

occurred.
5.0.32 MEMORY ERROR (STROKE POSITION)
Sub
Code

(2)If the alarm occurs again, initialize the FULL/
SHORT OPEN position setting file in
maintenance mode, and then load the FULL/
SHORT OPEN position setting file saved in the

board.
264 E1102000106GB02
DX100 controller
Sub
Code

occurred.
5.0.33 MEMORY ERROR (PRESSURE FILE)
Sub
Code

(2)If the alarm occurs again, initialize the dry-
spotting pressure file in maintenance mode, and
then load the dry-spotting pressure file saved in

board.

occurred.
5.0.34 MEMORY ERROR (FORM CUT FILE)
Sub
Code

(2)If the alarm occurs again, initialize the form
cut file in maintenance mode, and then load the
form cut file saved in the external memory
device.
E1102000106GB02 265
DX100 controller
Sub
Code

board.

occurred.
5.0.35 MEMORY ERROR (SHOCK LEVEL FILE)
Sub
Code

(2)If the alarm occurs again, initialize the shock
level file in maintenance mode, and then load
the shock level file saved in the external
memory device.

board.

occurred.
266 E1102000106GB02
DX100 controller
5.0.36 MEMORY ERROR (SPOT IO ALLOCTE FL)
Sub
Code

(2)If the alarm occurs again, initialize the spot I/
O allocation file in maintenance mode, and then
load the spot I/O allocation file saved in the

board.

occurred.
5.0.37 MEMORY ERROR (VISION FILE)
Sub
Code

number (2)If the alarm occurs again, initialize the vision
load the vision condition file saved in the

board.

occurred.
E1102000106GB02 267
DX100 controller
5.0.38 COMMUNICATION WDT ERROR (SERVO)
Sub
Code

number (2)If the alarm occurs again, initialize the vision
calibration file in maintenance mode, and then
load the vision calibration file saved in the

board.

occurred.
5.0.39 MEMORY ERROR (WELD PULSE COND)
Sub
Code

welding pulse condition file in maintenance
mode, and then load the welding pulse condition

board.

occurred.
268 E1102000106GB02
DX100 controller
5.0.40 MEMORY ERROR (WELD PULSE SELECT)
Sub
Code

welding pulse selection file in maintenance
mode, and then load the welding pulse selection

board.

occurred.
5.0.41 MEMORY ERROR (CONVEYOR CALIB FILE)
Sub
Code

conveyor calibration file in maintenance mode,
and then load the conveyor calibration file saved

board.

occurred.
E1102000106GB02 269
DX100 controller
5.0.42 MEMORY ERROR (SERVO S-GUN FILE)
Sub
Code

(2)If the alarm occurs again, initialize the sealer
gun characteristics file in maintenance mode,
and then load the sealer gun characteristics file

board.

occurred.
5.0.43 MEMORY ERROR (PASTE QUAN.COMP FL)
Sub
Code

painting amount correction file in maintenance
mode, and then load the painting amount
correction file saved in the external memory
device.

board.
270 E1102000106GB02
DX100 controller
Sub
Code

occurred.
5.0.44 MEMORY ERROR (AXIS I/O ALLOC FILE)
Sub
Code

(2)If the alarm occurs again, initialize the axis
motion I/O allocation file in maintenance mode,
and then load the axis motion I/O allocation file

board.

occurred.
5.0.45 MEMORY ERROR (GUN COND. AUX. FILE)
Sub
Code

(2)If the alarm occurs again, initialize the gun
characteristics auxiliary file in maintenance
mode, and then load the gun characteristics
auxiliary file saved in the external memory
device.
E1102000106GB02 271
DX100 controller
Sub
Code

board.

occurred.
5.0.46 MEMORY ERROR (TOOL INTERFERENCE)
Sub
Code

(2)If the alarm occurs again, initialize the tool
interference file in maintenance mode, and then
load the tool interference file saved in the

board.

occurred.
272 E1102000106GB02
DX100 controller
5.0.47 MEMORY ERROR (PAINT SYS CONFIG.)
Sub
Code

painting system setting file in maintenance
mode, and then load the painting system setting

board.

occurred.
5.0.48 MEMORY ERROR (PAINTING SPECIAL)
Sub
Code

painting device characteristics file in
maintenance mode, and then load the painting
device characteristics file saved in the external
memory device.

board.

occurred.
E1102000106GB02 273
DX100 controller
5.0.49 MEMORY ERROR (CCV-PAINT TABLE)
Sub
Code

painting CCV file in maintenance mode, and
then load the painting CCV file saved in the

board.

occurred.
5.0.50 MEMORY ERROR (PLUG VOLUME FILE)
Sub
Code

painting filling file in maintenance mode, and
then load the painting filling file saved in the

board.

occurred.
274 E1102000106GB02
DX100 controller
5.0.51 MEMORY ERROR (EVB GUN COND)
Sub
Code

(2)If the alarm occurs again, initialize the EVB
gun condition file in maintenance mode, and
then load the EVB gun condition file saved in

board.

occurred.
5.0.52 MEMORY ERROR (EVB TURBIN COND)
Sub
Code

turbine condition file in maintenance mode, and
then load the EVB turbine condition file saved in

board.

occurred.
E1102000106GB02 275
DX100 controller
5.0.53 MEMORY ERROR (EVB PAINT COND)
Sub
Code

paint condition file in maintenance mode, and
then load the EVB paint condition file saved in

board.

occurred.
5.0.54 MEMORY ERROR (CLEARANCE FILE)
Sub
Code

clearance file in maintenance mode, and then
load the clearance file saved in the external
memory device.

board.

occurred.
276 E1102000106GB02
DX100 controller
5.0.55 MEMORY ERROR (GAUGE SENSOR FILE)
Sub
Code

gauging sensor condition file in maintenance
mode, and then load the gauging sensor
condition file saved in the external memory
device.

board.

occurred.
5.0.56 MEMORY ERROR (LNR SCALE FILE)
Sub
Code

(2)If the alarm occurs again, initialize the linear
scale condition file in maintenance mode, and
then load the linear scale condition file saved in

board.

occurred.
E1102000106GB02 277
DX100 controller
5.0.57 MEMORY ERROR (CONVEYOR COND SUPP.)
Sub
Code

conveyor condition auxiliary file in maintenance
mode, and then load the conveyor condition
auxiliary file saved in the external memory
device.

board.

occurred.
5.0.58 MEMORY ERROR (WEAV SYNC WELD FILE)
Sub
Code

(2)If the alarm occurs again,
initialize the weaving synchronizing
welding condition file in
maintenance mode, and then load
the weaving synchronizing welding
condition file saved in the external
memory device.
YCP01 (1)Reset the alarm.

board (2)If the alarm occurs again, replace
failure the YCP01 board. Save the
CMOS.BIN before replace the board
to be safe. Replace the YCP01
board, and then insert the CF card
which inserted original YCP01 board
into the new YCP01 board.
278 E1102000106GB02
DX100 controller
Sub
Code
YIF board (1)Reset the alarm.

failure (2)If the alarm occurs again, replace
the YIF board. Save the CMOS.BIN
before replace the board to be safe.
Replace the YIF board, and then
load the CMOS.BIN saved before
alarm occurred.
5.0.59 MEMORY ERROR (I/F PANEL FILE)
Sub
Code

(2)If the alarm occurs again, initialize the I/F
panel file in maintenance mode, and then load
the I/F panel file saved in the external memory
device.

board.

occurred.
5.0.60 MEMORY ERROR (PALLETIZE COND FILE)
Sub
Code

palletize condition file in maintenance mode,
and then load the palletize condition file saved
E1102000106GB02 279
DX100 controller
Sub
Code

board.

occurred.
5.0.61 MEMORY ERROR (LASER TRACKING START FILE)
Sub
Code

(2)If the alarm occurs again, initialize the laser
tracking welding start file in maintenance mode,
and then load the laser tracking welding start file

board.

occurred.
280 E1102000106GB02
DX100 controller
5.0.62 MEMORY ERROR (LASER TRACKING END FILE)
Sub
Code

tracking welding end file in maintenance mode,
and then load the laser tracking welding end file

board.

occurred.
5.0.63 MEMORY ERROR (LASER TRACKING TRACK START FILE)
Sub
Code

tracking track start file in maintenance mode,
and then load the laser tracking track start file

board.

occurred.
E1102000106GB02 281
DX100 controller
5.0.64 MEMORY ERROR (LASER TRACKING SET FILE)
Sub
Code

tracking welding set file in maintenance mode,
and then load the laser tracking welding set file

board.

occurred.
5.0.65 MEMORY ERROR (LASER TRACKING TRACK SET FILE)
Sub
Code

tracking track set file in maintenance mode, and
then load the laser tracking track set file saved

board.

occurred.
282 E1102000106GB02
DX100 controller
5.0.66 MEMORY ERROR (CONDITION FILE OF CORRESPONDING TO LASER

TRACKING GAP)
Sub
Code

condition file of corresponding to laser tracking
gap in maintenance mode, and then load the
condition file of corresponding to laser tracking
gap saved in the external memory device.

board.

occurred.
5.0.67 MEMORY ERROR (MEMORY PLAY FILE FOR LASER TRACKING DC)
Sub
Code

memory play file for laser tracking DC in
maintenance mode, and then load the memory
play file for laser tracking DC saved in the

board.
E1102000106GB02 283
DX100 controller
Sub
Code

occurred.
5.0.68 DC 24V POWER SUPPLY FAILURE(YPS)
Sub
Code
YPS power Replace the YPS unit.

supply failure
5.0.69 OVERRUN IN ROBOT AXIS
Sub
Code
1 Power-ON unit Connection (1)Reset the alarm.(In case of major alarm, turn
connection and inserting state of the following
YPU unit
EAXA board CN512
YPU unit board (1)Reset the alarm.(In case of major alarm, turn
(2)If the alarm occurs again, replace the YPU
unit. Save the CMOS.BIN before replacing the
board to be safe.
Overrun limit Check that the overrun limit switch is not

switch released activating.

board. Save the CMOS.BIN before replacing the
board to be safe.
284 E1102000106GB02
DX100 controller
5.0.70 OVERRUN IN EXTERNAL AXIS
Sub
Code
Power-ON unit Connection (1)Reset the alarm.(In case of major alarm, turn
YPU unit
EAXA board CN512
board to be safe.

board to be safe.
5.0.71 SYSTEM DATA HAS BEEN CHANGED
Sub
Code
System data (1)Reset the alarm.

changed (2)Turn the power OFF then back ON before
turning ON the servo power supply.
E1102000106GB02 285
DX100 controller
5.0.72 PARALLEL START INSTRUCTION ERROR
Sub
Code
1 Sub task being Setting error (1)Check the following settings.

executed: The subtask is completed by the PWAIT
Although a job is being instruction.
executed by instructed
sub task, an attempt
was made to execute
another job by the sub
task.
2 Group axis being used: Setting error (1)Check the following settings.
The job operated by The job to be started
another sub task uses The execution timing for start command
the same group axis.
3 Multiple start of same Setting error (1)Check the following settings.

job: The same job is not used in the another task
The job that was tried to
be started was executed
by another sub task.
4 Unregistered master Setting error (1)Check the following settings.

job: The master job of the subtask is registered
Although the master job
was not registered, an
attempt was made to
execute PSTART SUB
(job name omitted).
5 Synchronization Setting error (1)Check the following settings.

instruction error: The job to be started
When restarted by The execution timing for start command
PSTART,
synchronization
instruction status of the
sub task under
interruption was
different from the status
to restart.
6 Stopped by an alarm: Setting error (1)Check the following settings.

An attempt was made to Alarm occurrence status
start the sub task which
is stopped by an alarm.
7 Synchronization task Setting error (1)Check the following settings.

specification of SYNC Synchronization task specification of SYNC
instruction omit error instruction
8 The task is specified by Setting error (1)Check the following settings.

synchronization task of Synchronization task specification of SYNC
SYNC instruction. instruction
286 E1102000106GB02
DX100 controller
Sub
Code
9 I/O jog being executed Setting error (1)Check the following settings.
I/O jog executing status
Complete the I/O jog executing status, and then
restart.
10 Separate group axis Setting error (1)Check the following settings.

being used Usage status of separation use axis
Complete the use of separation use axis, and
then restart.
11 The servo power supply Setting error (1)Check the following settings.
is OFF. Servo power
Turn ON servo power.
12 Twin synchronous task Setting error (1)Check the following settings.

ID error Twin synchronous task specification of SYNC
instruction
16 PSTART instruction is Setting error (1)Check the following settings.

the old specification. The specifications of PSTART instruction
Register the PSTART instruction as new
specification.
17 PWAIT instruction is the Setting error (1)Check the following settings.

old specification. The specifications of PWAIT instruction
Register the PWAIT instruction as new
specification.
5.0.73 WRONG EXECUTION OF LOAD INST
Sub
Code
Sub Code1 to 245: Setting error * Refer to the instruction manual for Data
Signifies the data Transmission Function for details.
transmission error.
5.0.74 WRONG EXECUTION OF SAVE INST
Sub
Code
transmission error.
E1102000106GB02 287
DX100 controller
5.0.75 WRONG EXECUTION OF DELETE INST
Sub
Code
transmission error.
5.0.76 OUT OF RANGE (ABSO DATA)
Sub
Code

Move the robot or station to the zero position by
the axis operation and check the home position
alignment marks (the arrow).
5.0.77 DC 24V POWER SUPPLY FAILURE(I/O)
Sub
Code
0000_0001: Fuse blown Connection (1)Reset the alarm.

(YIU unit) failure (2)If the alarm occurs again, check the
0000_0011: External connection and inserting state of the following
24V power supply error. cables and connectors.
Check the insertion and connection of the
followings.
Fuse (blown) of YIU unit
The communications cable for the I/O module
Voltage error (1)Reset the alarm.

(2)If the alarm occurs again, Check the 24V
external power supply. If abnormal, replace the
24V external power supply.
Overrun limit Check that the overrun limit switch is not

switch released activating. If overrun limit switch is activating,
return to a normal position.
288 E1102000106GB02
DX100 controller
5.0.78 SHOCK SENSOR ACTION
Sub
Code

YPU unit
EAXA board CN512
board to be safe.

board to be safe.
5.0.79 DATA SENDING ERROR
Sub
Code
1 Retry over of NAK Communication (1)Reset the alarm.

error (2)If the alarm occurs again, check the
communication setting and communication
wiring is correct.
2 Retry over for timeout in Communication (1)Reset the alarm.

timer A error (2)If the alarm occurs again, check the
wiring is correct.
3 Retry over for mutual Communication (1)Reset the alarm.

response error error (2)If the alarm occurs again, check the
wiring is correct.
E1102000106GB02 289
DX100 controller
5.0.80 DATA RECEIVING ERROR
Sub
Code
1 Reception timeout Communication (1)Reset the alarm.

(timer A) error (2)If the alarm occurs again, check the
wiring is correct.
2 Reception timeout Communication (1)Reset the alarm.

(timer B) error (2)If the alarm occurs again, check the
wiring is correct.
3 Heading length is too Communication (1)Reset the alarm.

short. error (2)If the alarm occurs again, check the setting of
communication or transmission side data is
correctly set.
4 Heading length is too Communication (1)Reset the alarm.

long. error (2)If the alarm occurs again, check the setting of
correctly set.
5 The header No. error Communication (1)Reset the alarm.

error (2)If the alarm occurs again, check the setting of
correctly set.
6 The text length Communication (1)Reset the alarm.

exceeded 256 error (2)If the alarm occurs again, check the setting of
characters. communication or transmission side data is
correctly set.
5.0.81 TRANSMISSION HARDWARE ERROR
Sub
Code
1 Overrun error Communication (1)Reset the alarm.

wiring is correct.
2 Parity error Communication (1)Reset the alarm.

wiring is correct.
290 E1102000106GB02
DX100 controller
Sub
Code
3 Framing error Communication (1)Reset the alarm.

wiring is correct.
4 Transmission timeout Communication (1)Reset the alarm.

(timer A) error (2)If the alarm occurs again, check the
wiring is correct.
5 Transmission timeout Communication (1)Reset the alarm.

(timer B) error (2)If the alarm occurs again, check the
wiring is correct.
5.0.82 TRANSMISSION SYSTEM BLOCK
Sub
Code
1 Received EOT while Communication (1)Reset the alarm.

waiting ACK. error (2)If the alarm occurs again, check the setting of
correctly set.
2 Received EOT while Communication (1)Reset the alarm.

waiting ENQ. error (2)If the alarm occurs again, check the setting of
correctly set.
3 Received EOT before Communication (1)Reset the alarm.

last block reception. error (2)If the alarm occurs again, check the setting of
correctly set.
4 Received codes other Communication (1)Reset the alarm.

than EOT after last error (2)If the alarm occurs again, check the setting of
block reception. communication or transmission side data is
correctly set.
E1102000106GB02 291
DX100 controller
5.0.83 TRANSMISSION SYSTEM ERROR
Sub
Code
Sub Code Communication (1)Reset the alarm.

1: Sending data error (2)If the alarm occurs again, check the setting of
contents error communication or transmission side data is
100: Trans error or correctly set.
protocol error
5.0.84 FAN CIRCUIT PROTECTOR TRIPPED
Sub
Code
Connection Check if there is a ground fault or short circuit in

failure the fan power line.

(After cancellation of the short-circuit and
ground fault) Turn ON the circuit protector.
5.0.85 COOLING FAN1 ERROR
Sub
Code
Sub Code Cooling fan Replace the cooling fan of robot.

XServo board failure Check the wiring from a robot to a servo board.
1: Servo board1 (SV#1) * Move the robot to the safe position in the teach
2: Servo board2 (SV#2) mode.
3: Servo board3 (SV#3)
YPower-ON unit
292 E1102000106GB02
DX100 controller
Sub
Code

YPower-ON unit
Sub
Code

YPower-ON unit
1: Power-ON unit1
(TU#1)
2: Power-ON unit2
(TU#2)
3: Power-ON unit3
(TU#3)
4: Power-ON unit4
(TU#4)
5: Power-ON unit5
(TU#5)
6: Power-ON unit6
(TU#6)
E1102000106GB02 293
DX100 controller
5.0.88 WRONG EXECUTION OF VISION INST
Sub
Code
1 The specified file Setting error (1)Check the following settings.

number is incorrect. File No.
Specify the correct file number.
2 The specified file set Setting error (1)Check the following settings.
value is incorrect. File set value
Specify the set value.
3 Calibration could not be Setting error (1)Check the following settings.

executed. The robot coordinate data or the pixel
coordinate data used for the calibration
The user variable number in the calibration file
Set the robot coordinate data and the pixel
coordinate data used for the calibration to the
user variable.
Correctly set the user variable number in the
calibration file.
4 The communication port Setting error (1)Check the following settings.

for the vision system The Parameter for communication port
could not be initialized.
5 Time-out occurred Setting error (1)Check the following settings.

during data The communication setting of vision system
transmission.
Connection (1)Reset the alarm.

connection of the following cables.
Cable between vision system and DX100
system
6 Time-out occurred Setting error (1)Check the following settings.

during data reception. The communication setting of vision system

system
7 The data received from Setting error (1)Check the following settings.
the vision system is The communication setting of vision system
incorrect. The detection setting of vision system

system
294 E1102000106GB02
DX100 controller
Sub
Code
8 The pixel coordinates Setting error (1)Check the following settings.

value was not able to be The communication setting of vision system
converted into the robot Calibration file for use
coordinates.
9 Failed to read or write Setting error (1)Check the following settings.

the position type Usage status of the specified position type
variable (P variable). variable
Don't use the specified positional type variable
at the same time in other jobs.
10 Use memory is lacking Software (1)Reset the alarm, and then try again.
and the area could not operation error (2)If the alarm occurs again, save the
be obtained. occurred CMOS.BIN in maintenance mode, and then
contact your MOTOMAN representative about
11 The setting value of Correct the setting value of a measurement

measurement item (FT) item.
is incorrect.
12 The data for the vision Software (1)Reset the alarm, and then try again.
execution command is operation error (2)If the alarm occurs again, save the
incorrect. occurred CMOS.BIN in maintenance mode, and then
5.0.89 TRANS ERROR (WELD PULSE COND)
Sub
Code
1 File access error Communication (1)Reset the alarm.

wiring is correct.
2 File data error Communication (1)Reset the alarm.

communication or file data is correctly set.
3 Calibration execution Communication (1)Reset the alarm.

error error (2)If the alarm occurs again, check the setting of
correctly set.
4 YCP01 port initialize Communication (1)Reset the alarm.

communication or YCP01 port is correctly set.
5 Time-out occurred Communication (1)Reset the alarm.

during data error (2)If the alarm occurs again, check the
transmission. communication setting and communication
wiring is correct.
E1102000106GB02 295
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Sub
Code
6 Time-out occurred Communication (1)Reset the alarm.

during data reception. error (2)If the alarm occurs again, check the
wiring is correct.
7 Receive data error Communication (1)Reset the alarm.

wiring is correct.
8 Coordinate conversion Communication (1)Reset the alarm.

correctly set.
9 Position type variable Communication (1)Reset the alarm.

access error error (2)If the alarm occurs again, check the setting of
correctly set.
10 Failed to store the area. Software (1)Reset the alarm, and then try again.
11 Measurement item Communication (1)Reset the alarm.

setting error error (2)If the alarm occurs again, check the setting of
correctly set.
12 Tag setting error Communication (1)Reset the alarm.

correctly set.
48 Wait status table FULL Communication (1)Reset the alarm.

correctly set.
5.0.90 CANNOT EXECUTE AUTO PMT
Sub
Code
1 System error Software (1)Reset the alarm, and then try again.
296 E1102000106GB02
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Sub
Code
2 PBOX cannot be edited. Setting error (1)Check the following settings.

I/O status of the edit prohibit signal
The edit prohibit signal cannot input.
3 The source job cannot Setting error (1)Check the following settings.
be edited. The prohibit status of source job
If the source job is protected from editing, it
cannot be edited.
4 The converted job Setting error (1)Check the following settings.

cannot be edited. The prohibit status of converted job
If the converted job is protected from editing, it
cannot be edited.
5 The memory area for Software (1)Reset the alarm.

job area is insufficient. operation error (2)If the error occurs again, delete unused jobs.
occurred (3)If the error occurs again after the previous
measures were executed, initialize the job file in
the maintenance mode, and then load the saved
job file. In that case, delete the unused jobs.
MOTOMAN representative about occurrence
6 The source job is not Setting error (1)Check the following settings.
exist. Presence of the specified source job
The job which does not exist cannot be set to
the source job.
7 The memory area for Software (1)Reset the alarm.

position data of the job operation error (2)when the error occurs again, if there is an
is insufficient. occurred unnecessary teaching position, delete it.
(3)If the error occurs again after the previous
8 The job under execution Setting error (1)Check the following settings.
is specified as the Execution status of the source job
conversion job. Execution status of the converted job
The job under execution is specified for the
source / converted job. Execute conversion
operation after ending the job execution.
E1102000106GB02 297
DX100 controller
5.0.91 ARC MONITOR ERROR
Sub
Code
1 Monitor ON was Setting error (1)Check the following settings.

executed in Monitor ON. Arc monitor ON status
Arc monitor ON cannot be executed during arc
monitor ON.
10 Analog CH specification Setting error (1)Check the following settings.

or register specification Analog CH specification
is not exist. Register specification
Analog CH specification or register specification
is required.
11 The number of Setting error (1)Check the following settings.

samplings exceeds the The number of samplings
set value. The number of sampling is too much. Confirm
the monitor ON/OFF status.
5.0.92 TWIN DRIVE OUT OF RANGE (START)
Sub
Code
Sub Code: Setting error (1)Check the following settings.

Corresponding master- Pulse error of the master-axes and the slave-
axes and slave-axes are axes
displayed by the bit. Switch to independent movement mode so that
the pulse error of the master-axes and the
slave-axes is settled within allowable range.
5.0.93 NETWORK APPLICATION PROCESS ERROR
Sub
Code
1 An error occurred when Software (1)Turn the power OFF then back ON.
the notification of the operation error (2)If the alarm occurs again, save the
APP task re-initialization occurred CMOS.BIN in maintenance mode, and then
was processed in the contact your MOTOMAN representative about
298 E1102000106GB02
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Sub
Code

board.
the re-initialization operation error (2)If the alarm occurs again, save the
response was received occurred CMOS.BIN in maintenance mode, and then
in the Ethernet function. contact your MOTOMAN representative about

board.
3 The incomplete task of Software (1)Turn the power OFF then back ON.
re-initialization was operation error (2)If the alarm occurs again, save the
unsuccessfully occurred CMOS.BIN in maintenance mode, and then
completed in the contact your MOTOMAN representative about

board.
the semaphore for re- operation error (2)If the alarm occurs again, save the
initialization was occurred CMOS.BIN in maintenance mode, and then
received in the Ethernet contact your MOTOMAN representative about

board.
the re-initialization mail operation error (2)If the alarm occurs again, save the
was sent in the Ethernet occurred CMOS.BIN in maintenance mode, and then
function. contact your MOTOMAN representative about
E1102000106GB02 299
DX100 controller
Sub
Code

board.
exclusive process of the operation error (2)If the alarm occurs again, save the
storage area control occurred CMOS.BIN in maintenance mode, and then
table of the Ethernet contact your MOTOMAN representative about

board.
7 Time-out occurred in the Software (1)Turn the power OFF then back ON.
re-initialization response operation error (2)If the alarm occurs again, save the
receiving process of the occurred CMOS.BIN in maintenance mode, and then
Ethernet function. contact your MOTOMAN representative about

board.
re-initialization response operation error (2)If the alarm occurs again, save the

board.
9 Receiving data size Software (1)Turn the power OFF then back ON.
error occurred in the re- operation error (2)If the alarm occurs again, save the
initialization response occurred CMOS.BIN in maintenance mode, and then
receiving process of the contact your MOTOMAN representative about
300 E1102000106GB02
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Sub
Code

board.
Web server task mail operation error (2)If the alarm occurs again, save the

board.
FTP server task mail operation error (2)If the alarm occurs again, save the

board.
FTP client task mail operation error (2)If the alarm occurs again, save the

board.
40 Illegal e-mail data were Software (1)Turn the power OFF then back ON.
received in the Web operation error (2)If the alarm occurs again, save the
server task of the occurred CMOS.BIN in maintenance mode, and then
E1102000106GB02 301
DX100 controller
Sub
Code

board.
received in the FTP operation error (2)If the alarm occurs again, save the
server task of the occurred CMOS.BIN in maintenance mode, and then

board.
received in the FTP operation error (2)If the alarm occurs again, save the
client task of the occurred CMOS.BIN in maintenance mode, and then

board.
data size written to PCI operation error (2)If the alarm occurs again, save the
of the Ethernet function. occurred CMOS.BIN in maintenance mode, and then

board.
the request to write PCI operation error (2)If the alarm occurs again, save the
data was received in the occurred CMOS.BIN in maintenance mode, and then
302 E1102000106GB02
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Sub
Code

board.
52 The request of the Software (1)Turn the power OFF then back ON.
undefined transmission operation error (2)If the alarm occurs again, save the
was received in the occurred CMOS.BIN in maintenance mode, and then

board.
transmission request of operation error (2)If the alarm occurs again, save the
the Ethernet function. occurred CMOS.BIN in maintenance mode, and then

board.
54 The transmission Software (1)Turn the power OFF then back ON.
request without data operation error (2)If the alarm occurs again, save the

board.
request of illegal data operation error (2)If the alarm occurs again, save the
length was received in occurred CMOS.BIN in maintenance mode, and then
the Ethernet function. contact your MOTOMAN representative about
E1102000106GB02 303
DX100 controller
Sub
Code

board.
60 Illegal mail data ware Software (1)Turn the power OFF then back ON.
received in the DNS operation error (2)If the alarm occurs again, save the
task of the Ethernet occurred CMOS.BIN in maintenance mode, and then

board.
61 Illegal mail data was Software (1)Turn the power OFF then back ON.
transmitted in the DNS operation error (2)If the alarm occurs again, save the
task of the Ethernet occurred CMOS.BIN in maintenance mode, and then

board.
100 An error occurred in Software (1)Turn the power OFF then back ON.
storing process of operation error (2)If the alarm occurs again, save the
memory which is used occurred CMOS.BIN in maintenance mode, and then
in the Ethernet function. contact your MOTOMAN representative about

board.
buffer for request to operation error (2)If the alarm occurs again, save the
write PCI getting occurred CMOS.BIN in maintenance mode, and then
process of the Ethernet contact your MOTOMAN representative about
304 E1102000106GB02
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Sub
Code

board.
200 The socket of the Software (1)Turn the power OFF then back ON.
Ethernet function was operation error (2)If the alarm occurs again, save the
full and was not able to occurred CMOS.BIN in maintenance mode, and then
create a socket. contact your MOTOMAN representative about

board.
semaphore of socket operation error (2)If the alarm occurs again, save the
control table of the occurred CMOS.BIN in maintenance mode, and then

board.
5.0.94 UDP PROCESS ERROR
Sub
Code
creation of receiving operation error (2)If the alarm occurs again, save the
socket during the UDP occurred CMOS.BIN in maintenance mode, and then

board.
E1102000106GB02 305
DX100 controller
Sub
Code
creation of transmission operation error (2)If the alarm occurs again, save the
socket during the UDP occurred CMOS.BIN in maintenance mode, and then

board.
3 Illegal data were Software (1)Turn the power OFF then back ON.
received in the UDP operation error (2)If the alarm occurs again, save the

board.
4 Transmission error Software (1)Turn the power OFF then back ON.
occurred in the UDP operation error (2)If the alarm occurs again, save the

board.
5 The SELECT operation Software (1)Turn the power OFF then back ON.
was not successfully operation error (2)If the alarm occurs again, save the
completed in the UDP occurred CMOS.BIN in maintenance mode, and then

board.
306 E1102000106GB02
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Sub
Code
100 The re-initialization Software (1)Turn the power OFF then back ON.
notification of illegal operation error (2)If the alarm occurs again, check the
data length was occurred connection and insertion of the following cables
received in the UDP and connectors.
process of the Ethernet The MII communications cable which I/O
function. module of the corresponding sub code
Terminator

board.
101 The re-initialization Software (1)Turn the power OFF then back ON.
notification of illegal operation error (2)If the alarm occurs again, save the
data was received in the occurred CMOS.BIN in maintenance mode, and then
UDP process of the contact your MOTOMAN representative about

board.
102 The PCI write process Software (1)Turn the power OFF then back ON.
was not successfully operation error (2)If the alarm occurs again, save the
completed in the UDP occurred CMOS.BIN in maintenance mode, and then

board.
length was received in occurred CMOS.BIN in maintenance mode, and then
the UDP process of the contact your MOTOMAN representative about

board.
E1102000106GB02 307
DX100 controller
Sub
Code
UDP process of the contact your MOTOMAN representative about

board.
5.0.95 TCP PROCESS ERROR
Sub
Code
1 The socket table was Software (1)Turn the power OFF then back ON.
not successfully created operation error (2)If the alarm occurs again, save the
in the TCP process of occurred CMOS.BIN in maintenance mode, and then

board.
process of the TCP operation error (2)If the alarm occurs again, save the
server initialization of occurred CMOS.BIN in maintenance mode, and then

board.
3 An error occurred in Software (1)Turn the power OFF then back ON.
connection detecting operation error (2)If the alarm occurs again, save the
process of TCP server occurred CMOS.BIN in maintenance mode, and then
of the Ethernet function. contact your MOTOMAN representative about
308 E1102000106GB02
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Sub
Code

board.
connection detection operation error (2)If the alarm occurs again, save the
checking process of occurred CMOS.BIN in maintenance mode, and then
TCP server of the contact your MOTOMAN representative about

board.
5.0.96 TOYOPUC RUN STOP
Sub
Code
0 Setting error (1)Check the following settings.

Use the PCwin, etc. to run the TOYOPUC.
5.0.97 TOYOPUC MAJOR ERROR
Sub
Code
0 The PCI bus state of the Setting error (1)Check the following settings.
TOYOPUC turns to OFF/ON status of the remote
"ER". OFF/ON status of the power supply
Turn OFF and back ON the remote or power
supply.
E1102000106GB02 309
DX100 controller
5.0.98 WRONG EXECUTION OF SETUALM INST
Sub
Code
1 Alarm code specification Setting error (1)Check the following settings.

error Alarm code
Specify the alarm in the range 8000 to 8999.
2 Task specification error Setting error (1)Check the following settings.

Task specification
Specify the task in the range 0 to 4 (7 at
expansion).
3 Motion mode Setting error (1)Check the following settings.

specification error Motion mode specification
Set the motion mode to 0 or 1.
5.0.99 WRONG EXECUTION OF SVON INST
Sub
Code
Connection (1)Check the following settings.

failure Short-circuit the external servo ON (EXSVON)
of MXT terminal block.

The concurrent I/O signal #80031 (servo ON
condition1) ON
The concurrent I/O signal #80033 (servo ON
condition2) ON
5.0.100 WRONG EXECUTION OF PRINT INST
Sub
Code

The setting of the PRINT output conversion
spec (character string specification)
If there is no problem in the setting, delete the
corresponding PRINT instruction and register
again.
310 E1102000106GB02
DX100 controller
5.0.101 WRONG EXECUTION OF DIALOG INST
Sub
Code
1 DIALOG instruction Setting error (1)Check the following settings.

control error The tag setting of DIALOG instruction
If no fault is found, delete corresponding
DIALOG instruction, and then register again.
2 Messages and buttons Setting error (1)Check the following settings.

are not registered. The information of DIALOG instruction
message and button
3 Buttons are not Setting error (1)Check the following settings.

registered. The information of DIALOG instruction button
5.0.102 SNTP ERROR
Sub
Code
1 The error on setting of Software (1)Turn the power OFF then back ON.
time difference value operation error (2)If the alarm occurs again, save the
occurred in the SNTP occurred CMOS.BIN in maintenance mode, and then

board.
time-out value occurred operation error (2)If the alarm occurs again, save the
in the SNTP process of occurred CMOS.BIN in maintenance mode, and then

board.
E1102000106GB02 311
DX100 controller
Sub
Code
reference interval value operation error (2)If the alarm occurs again, save the
occurred in the SNTP occurred CMOS.BIN in maintenance mode, and then

board.
4 The IP address error Setting error (1)Check the following settings.

occurred in the SNTP The IP address of the SNTP server
process of the Ethernet The DHCP server operation (If the DHCP is
function. used)
The network status (If the DHCP is used)

board.
5 Time-out occurred in the Setting error (1)Check the following settings.

SNTP process The SNTP server operation
of the Ethernet function. The network status

board.
6 The server time is not Setting error (1)Check the following settings.
synchronized in the The SNTP server operation
SNTP process of the The network status
Ethernet function.

board.
7 The SNTP process of Setting error Use the server compliant with the SNTP version
the Ethernet function is 3.
not compliant with the
version that the server
sent.
312 E1102000106GB02
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Sub
Code

board.
8 Illegal parameters were Setting error (1)Check the following settings.

found in the SNTP SNTP setting
process of the Ethernet
function.

board.
9 The SNTP process of Setting error (1)Check the following settings.

the Ethernet function SNTP setting
was not successfully
completed.

board.
10 The name resolution Setting error (1)Check the following settings.

error occurred in the The IP address of the SNTP server
SNTP process of the The DHCP server operation**If the DHCP is
Ethernet function. used
The network status*If the DHCP is used

board.
11 The error on getting of Setting error (1)Check the following settings.

server address occurred The DHCP server operation
in the SNTP process of The network status

board.
E1102000106GB02 313
DX100 controller
Sub
Code
12 The server setting is Setting error (1)Check the following settings.

incorrect in the SNTP SNTP setting
function (for future use).

board.
5.0.103 SYSTEM ERROR (FILE DATA)
Sub
Code
Sub code 01 to 50: Data error (1)Reset the alarm.

Signifies the internal (2)If the alarm occurs again, initialize the
software error appropriate data in maintenance mode, and
device.
5.0.104 SYSTEM ERROR (JOB)
Sub
Code
-1 An error occurred during Software (1)Reset the alarm, and then try again.
the access to a job in operation error (2)If the alarm occurs again, save the
parameter occurred CMOS.BIN in maintenance mode, and then
specifications. contact your MOTOMAN representative about
YIF board failure (1)Reset the alarm, and then try again.
occurred.
314 E1102000106GB02
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Sub
Code
YCP01 board (1)Reset the alarm, and then try again.

board.
-2 Access time exceeded Software (1)Reset the alarm, and then try again.
the limit during the operation error (2)If the alarm occurs again, save the
access to a job. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
-3 The access to a job Software (1)Reset the alarm, and then try again.
could not be performed operation error (2)If the alarm occurs again, save the
with the specified job occurred CMOS.BIN in maintenance mode, and then
name. contact your MOTOMAN representative about
occurred.

board.
-4 Unavailable characters Software (1)Reset the alarm, and then try again.
are used for a job name. operation error (2)If the alarm occurs again, save the
E1102000106GB02 315
DX100 controller
Sub
Code
occurred.

board.
-5 A job was newly created Software (1)Reset the alarm, and then try again.
with the same name of operation error (2)If the alarm occurs again, save the
the job already specified occurred CMOS.BIN in maintenance mode, and then
in the memory. contact your MOTOMAN representative about
occurred.

board.
-6 The allowable job Setting error (1)Check the following settings.

registration area Delete unused jobs.
(memory) was
exceeded.
-7 A job that did not exist in Software (1)Reset the alarm, and then try again.
the memory was operation error (2)If the alarm occurs again, save the
specified. occurred CMOS.BIN in maintenance mode, and then
occurred.
316 E1102000106GB02
DX100 controller
Sub
Code

board.
-8 An attempt was made to Setting error (1)Check the following settings.

change the contents for Release the prohibition.
the job prohibited from
being edited.
-9 An error occurred during Software (1)Reset the alarm, and then try again.
the access to a job in operation error (2)If the alarm occurs again, save the
handle value. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
-10 An error occurred in job Software (1)Reset the alarm, and then try again.
data control system. operation error (2)If the alarm occurs again, save the
occurred.

board.
-11 An error occurred in Software (1)Reset the alarm, and then try again.
sequence number of the operation error (2)If the alarm occurs again, save the
accessed job. occurred CMOS.BIN in maintenance mode, and then
E1102000106GB02 317
DX100 controller
Sub
Code
occurred.

board.
step number of the operation error (2)If the alarm occurs again, save the
accessed job. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
-13 A job specified at job Software (1)Reset the alarm, and then try again.
search did not exist in operation error (2)If the alarm occurs again, save the
the memory. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
318 E1102000106GB02
DX100 controller
Sub
Code
-14 There was an Software (1)Reset the alarm, and then try again.
instruction that did not operation error (2)If the alarm occurs again, save the
exist in a job because of occurred CMOS.BIN in maintenance mode, and then
inconsistency of the contact your MOTOMAN representative about
system software. occurrence status (operating procedure).
occurred.

board.
-16 Unused handles were Software (1)Reset the alarm, and then try again.
lacking when an attempt operation error (2)If the alarm occurs again, save the
was made to open a job. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
-18 The number of Setting error (1)Check the following settings.

instructions added to a Delete unnecessary instructions and add new
job exceeded 9999. instructions again.
-19 The number of steps Setting error (1)Check the following settings.
added to a job Delete unnecessary steps and add new steps
exceeded 999. again.
-22 Job information was not Software (1)Reset the alarm, and then try again.
able to be expanded. operation error (2)If the alarm occurs again, save the
E1102000106GB02 319
DX100 controller
Sub
Code
occurred.

board.
-23 Job information was not Software (1)Reset the alarm, and then try again.
able to be acquired. operation error (2)If the alarm occurs again, save the
occurred.

board.
cluster control. operation error (2)If the alarm occurs again, save the
occurred.

board.
320 E1102000106GB02
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Sub
Code
-25 Failed to read the Software (1)Reset the alarm, and then try again.
cluster information. operation error (2)If the alarm occurs again, save the
occurred.

board.
-26 Heap area could not be Software (1)Reset the alarm, and then try again.
obtained. operation error (2)If the alarm occurs again, save the
occurred.

board.
-90 The configuration data Software (1)Reset the alarm, and then try again.
is damaged. operation error (2)If the alarm occurs again, save the
occurred.
E1102000106GB02 321
DX100 controller
Sub
Code

board.
-91 The FAT area is Software (1)Reset the alarm, and then try again.
damaged. operation error (2)If the alarm occurs again, save the
occurred.

board.
-92 A job data in the Software (1)Reset the alarm, and then try again.
memory was destroyed. operation error (2)If the alarm occurs again, save the
occurred.

board.
322 E1102000106GB02
DX100 controller
5.0.105 SYSTEM ERROR (JOB)
Sub
Code
1 An error occurred in Software (1)Reset the alarm.

parameter operation error (2)If the error occurs again, delete the job where
specifications for the occurred the alarm occurred.
access to a job . (3)If the error occurs again after the previous
job file.
2 Access time exceeded Software (1)Reset the alarm.

the limit during the operation error (2)If the error occurs again, delete the job where
access to a job. occurred the alarm occurred.
job file.
3 The access to a job Software (1)Reset the alarm.

could not be performed operation error (2)If the error occurs again, delete the job where
with the specified job occurred the alarm occurred.
name. (3)If the error occurs again after the previous
job file.
4 Unavailable characters Software (1)Reset the alarm.

are used for a job name operation error (2)If the error occurs again, delete the job where
occurred the alarm occurred.
job file.
E1102000106GB02 323
DX100 controller
Sub
Code
5 A job was newly created Software (1)Reset the alarm.

with the same name of operation error (2)If the error occurs again, delete the job where
the job already specified occurred the alarm occurred.
in the memory. (3)If the error occurs again after the previous
job file.
6 The allowable job Software (1)Reset the alarm.

registration area operation error (2)If the error occurs again, delete unused jobs.
(memory) was occurred (3)If the error occurs again after the previous
exceeded. measures were executed, initialize the job file in
7 A job that did not exist in Software (1)Reset the alarm.

the memory was operation error (2)If the error occurs again, delete the job where
specified. occurred the alarm occurred.
job file.
8 An attempt was made to Setting error (1)Check the following settings.

change the contents for Setting of EDIT LOCK in JOB header screen
the job prohibited from If the job is protected from editing, release the
being edited. prohibition.

operation error (2)If you edit this job, release the prohibition.
occurred (3)If the error occurs again, delete the job where
the alarm occurred.
job file.
324 E1102000106GB02
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Sub
Code

change the contents for Setting of EDIT LOCK in JOB header screen
the job prohibited from If the job is protected from editing, release the
being edited. prohibition.
An error occurred in Software (1)Reset the alarm.

parameter operation error (2)If you edit this job, release the prohibition.
specifications for the occurred (3)If the error occurs again, delete the job where
access to a job . the alarm occurred.
job file.
10 An error occurred in job Software (1)Reset the alarm.

data control system. operation error (2)If the error occurs again, delete the job where
job file.

sequence number of the operation error (2)If the error occurs again, delete the job where
accessed job. occurred the alarm occurred.
job file.

step number of the operation error (2)If the error occurs again, delete the job where
accessed job. occurred the alarm occurred.
job file.
E1102000106GB02 325
DX100 controller
Sub
Code
13 A job specified at job Software (1)Reset the alarm.

search did not exist in operation error (2)If the error occurs again, delete the job where
the memory. occurred the alarm occurred.
job file.
14 There was an Software (1)Reset the alarm.

instruction that did not operation error (2)If the error occurs again, delete the job where
exist in a job because of occurred the alarm occurred.
inconsistency of the (3)If the error occurs again after the previous
system software. measures were executed, initialize the job file in
job file.
16 Unused handles were Setting error (1)Check the following settings.

lacking when an attempt The number of call job stacks
was made to open a job. Set the job configuration that decreases the
number of call job stacks.

operation error (2)If the error occurs again, delete the job where
job file.
18 The number of Setting error (1)Check the following settings.

instructions added to a The number of steps in job
job exceeded 9999. Delete unnecessary instructions in job and add
new instructions.
326 E1102000106GB02
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Sub
Code

job file.
19 The number of steps Setting error (1)Check the following settings.

added to a job The number of steps in job
exceeded 9999. Delete unnecessary steps in job and add new
steps.

job file.
20 A job was newly created Software (1)Reset the alarm.

with the same name of operation error (2)If the error occurs again, delete the job where
the undefined job occurred the alarm occurred.
already specified in the (3)If the error occurs again after the previous
memory. measures were executed, initialize the job file in
job file.
22 Failed to expand job Software (1)Reset the alarm.

information during the operation error (2)If the error occurs again, delete the job where
access to a job. occurred the alarm occurred.
job file.
E1102000106GB02 327
DX100 controller
Sub
Code
23 The accessed job was Software (1)Reset the alarm.

not opened. operation error (2)If the error occurs again, delete the job where
job file.
24 An error occurred in the Software (1)Reset the alarm.

cluster control process operation error (2)If the error occurs again, delete the job where
of the accessed job. occurred the alarm occurred.
job file.
25 An error occurred when Software (1)Reset the alarm.

reading the cluster operation error (2)If the error occurs again, delete the job where
information of the occurred the alarm occurred.
accessed job. (3)If the error occurs again after the previous
job file.
26 Failed to acquire the Software (1)Reset the alarm.

necessary memory area operation error (2)If the error occurs again, delete the job where
during the access to a occurred the alarm occurred.
job. (3)If the error occurs again after the previous
job file.
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90 The configuration Software (1)Reset the alarm.

information for job data operation error (2)If the error occurs again, delete the job where
control is damaged. occurred the alarm occurred.
job file.
91 The FAT information for Software (1)Reset the alarm.

job data is damaged. operation error (2)If the error occurs again, delete the job where
job file.
92 A job data was Software (1)Reset the alarm.

destroyed. operation error (2)If the error occurs again, delete the job where
job file.
99 A job data in the Software (1)Reset the alarm.

memory was destroyed. operation error (2)If the error occurs again, delete the job where
job file.
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5.0.106 SYSTEM ERROR (POSITION DATA
Sub
Code
-1 The memory area for Software (1)Reset the alarm, and then try again.
position data is lacking operation error (2)If the alarm occurs again, save the
at the initialization of the occurred CMOS.BIN in maintenance mode, and then
position data control contact your MOTOMAN representative about
process. occurrence status (operating procedure).
occurred.

board.
-2 The number of axes for Software (1)Reset the alarm, and then try again.
all the control groups is operation error (2)If the alarm occurs again, save the
zero at the initialization occurred CMOS.BIN in maintenance mode, and then
of the position data contact your MOTOMAN representative about
control process. occurrence status (operating procedure).
occurred.

board.
position data is zero. operation error (2)If the alarm occurs again, save the
330 E1102000106GB02
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Code
occurred.

board.
-4 The number of stored Software (1)Reset the alarm, and then try again.
position data exceeded operation error (2)If the alarm occurs again, save the
the maximum stored occurred CMOS.BIN in maintenance mode, and then
data at the initialization contact your MOTOMAN representative about
of the position data occurrence status (operating procedure).
control process.
occurred.

board.
-5 The memory size of the Software (1)Reset the alarm, and then try again.
position data exceeded operation error (2)If the alarm occurs again, save the
the maximum memory occurred CMOS.BIN in maintenance mode, and then
size at the initialization contact your MOTOMAN representative about
of the position data occurrence status (operating procedure).
control process.
occurred.

board.
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Code
-6 Unused position data Software (1)Reset the alarm, and then try again.
file is destroyed. operation error (2)If the alarm occurs again, save the
occurred.

board.
-7 Unused position data Software (1)Reset the alarm, and then try again.
file does not exist. operation error (2)If the alarm occurs again, save the
occurred.

board.
-8 Position data file is Software (1)Reset the alarm, and then try again.
destroyed. operation error (2)If the alarm occurs again, save the
occurred.
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board.
-9 Position data control Software (1)Reset the alarm, and then try again.
information is operation error (2)If the alarm occurs again, save the
destroyed. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
specified position data operation error (2)If the alarm occurs again, save the
number. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
-11 Position data is not Software (1)Reset the alarm, and then try again.
registered. operation error (2)If the alarm occurs again, save the
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occurred.

board.
-12 An attempt was made to Software (1)Reset the alarm, and then try again.
access the undefined operation error (2)If the alarm occurs again, save the
position data. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
access the position data operation error (2)If the alarm occurs again, save the
for the undefined control occurred CMOS.BIN in maintenance mode, and then
group. contact your MOTOMAN representative about
occurred.

board.
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-14 Position data control is Software (1)Reset the alarm, and then try again.
not initialized. operation error (2)If the alarm occurs again, save the
occurred.

board.
the control groups operation error (2)If the alarm occurs again, save the
exceeded the limit. occurred CMOS.BIN in maintenance mode, and then
occurred.

board.
exclusive control during operation error (2)If the alarm occurs again, save the
the position data control occurred CMOS.BIN in maintenance mode, and then
process. contact your MOTOMAN representative about
occurred.
E1102000106GB02 335
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board.
exceptional control operation error (2)If the alarm occurs again, save the
during the position data occurred CMOS.BIN in maintenance mode, and then
control process. contact your MOTOMAN representative about
occurred.

board.
-20 Inconsistency of data. Software (1)Reset the alarm, and then try again.
occurred.

board.
336 E1102000106GB02
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5.0.107 SYSTEM ERROR (POSITION DATA)
Sub
Code
1 The number of axes for Software (1)Reset the alarm.

all the control groups is operation error (2)If the error occurs again, delete the job where
zero at the initialization occurred the alarm occurred.
of the position data (3)If the error occurs again after the previous
control process measures were executed, initialize the job file in
job file.

all the control groups is operation error (2)If the error occurs again, delete the job where
zero at the initialization occurred the alarm occurred.
of the position data (3)If the error occurs again after the previous
control process measures were executed, initialize the job file in
job file.

position data is zero. operation error (2)If the error occurs again, delete the job where
job file.
4 The number of stored Software (1)Reset the alarm.

position data exceeded operation error (2)If the error occurs again, delete the job where
the maximum stored occurred the alarm occurred.
data at the initialization (3)If the error occurs again after the previous
of the position data measures were executed, initialize the job file in
control process. the maintenance mode, and then load the saved
job file.
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Code
5 The memory size of the Software (1)Reset the alarm.

position data exceeded operation error (2)If the error occurs again, delete the job where
the maximum memory occurred the alarm occurred.
size at the initialization (3)If the error occurs again after the previous
of the position data measures were executed, initialize the job file in
control process. the maintenance mode, and then load the saved
job file.
6 Unused position data Software (1)Reset the alarm.

file is destroyed. operation error (2)If the error occurs again, delete the job where
job file.
7 Unused position data Setting error (1)Check the following settings.

file does not exist. The number of steps in job (position data)
Delete unnecessary position data in job and add
new position data.

job file.
8 Position data file is Software (1)Reset the alarm.

destroyed. operation error (2)If the error occurs again, delete the job where
job file.
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9 Position data control Software (1)Reset the alarm.

information is operation error (2)If the error occurs again, delete the job where
destroyed. occurred the alarm occurred.
job file.

specified position data operation error (2)If the error occurs again, delete the job where
number. occurred the alarm occurred.
job file.
11 Position data is not Setting error (1)Check the following settings.

registered. Teaching of alarm occurred point
Teaching the point where alarm occurred.

job file.
12 An attempt was made to Software (1)Reset the alarm.

access the undefined operation error (2)If the error occurs again, delete the job where
position data. occurred the alarm occurred.
job file.
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13 An attempt was made to Software (1)Reset the alarm.

access the position data operation error (2)If the error occurs again, delete the job where
for the undefined control occurred the alarm occurred.
group. (3)If the error occurs again after the previous
job file.
14 Position data control is Software (1)Reset the alarm.

not initialized. operation error (2)If the error occurs again, delete the job where
job file.

the control groups operation error (2)If the error occurs again, delete the job where
exceeded the limit. occurred the alarm occurred.
job file.

exclusive control during operation error (2)If the error occurs again, delete the job where
the position data control occurred the alarm occurred.
process. (3)If the error occurs again after the previous
job file.
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exceptional control operation error (2)If the error occurs again, delete the job where
during the position data occurred the alarm occurred.
control process. (3)If the error occurs again after the previous
job file.
20 Undefined position Software (1)Reset the alarm.

exists. operation error (2)If the error occurs again, delete the job where
job file.
5.0.108 SYSTEM ERROR (TRANSMISSION)
Sub
Code
Sub Code 1 to 4: Software (1)Turn the power OFF then back ON.
Signifies the internal operation error (2)If the alarm occurs again, save the
software error during occurred CMOS.BIN in maintenance mode, and then
data transmission. contact your MOTOMAN representative about
5.0.109 SYSTEM ERROR (MOTION)
Sub
Code
1 An interrupt undefined Software (1)Reset the alarm, and then try again.
in the main command operation error (2)If the alarm occurs again, save the
from the system control occurred CMOS.BIN in maintenance mode, and then
section occurred. contact your MOTOMAN representative about
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2 An interrupt undefined Software (1)Reset the alarm, and then try again.
in the sub command operation error (2)If the alarm occurs again, save the
section occurred. contact your MOTOMAN representative about
3 The interrupt command Software (1)Reset the alarm, and then try again.
that was sent previously operation error (2)If the alarm occurs again, save the
section is being contact your MOTOMAN representative about
processed. occurrence status (operating procedure).
4 An error was detected in Software (1)Reset the alarm, and then try again.
the interrupt command operation error (2)If the alarm occurs again, save the
data from the system occurred CMOS.BIN in maintenance mode, and then
control section. contact your MOTOMAN representative about
5 An undefined command Software (1)Reset the alarm, and then try again.
was detected in the sub operation error (2)If the alarm occurs again, save the
segment task of occurred CMOS.BIN in maintenance mode, and then
MOTION section. contact your MOTOMAN representative about
was detected in the operation error (2)If the alarm occurs again, save the
servo-related occurred CMOS.BIN in maintenance mode, and then
processing of MOTION contact your MOTOMAN representative about
section. occurrence status (operating procedure).
offline processing task occurred CMOS.BIN in maintenance mode, and then
of MOTION section. contact your MOTOMAN representative about
utility task of MOTION occurred CMOS.BIN in maintenance mode, and then
section. contact your MOTOMAN representative about
10 Task Token is not Software (1)Reset the alarm, and then try again.
generated. operation error (2)If the alarm occurs again, save the
11 Mail-box Token is not Software (1)Reset the alarm, and then try again.
generated. operation error (2)If the alarm occurs again, save the
12 Semaphore Token is Software (1)Reset the alarm, and then try again.
not generated. operation error (2)If the alarm occurs again, save the
342 E1102000106GB02
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14 RMS receiving data Software (1)Reset the alarm, and then try again.
error operation error (2)If the alarm occurs again, save the
15 RMS sending data error Software (1)Reset the alarm, and then try again.
16 RMS receiving unit error Software (1)Reset the alarm, and then try again.
18 Task generation error Software (1)Reset the alarm, and then try again.
19 Mail-box generation Software (1)Reset the alarm, and then try again.
20 Semaphore generation Software (1)Reset the alarm, and then try again.
22 TCB area overflow Software (1)Reset the alarm, and then try again.
23 Stack area overflow Software (1)Reset the alarm, and then try again.
24 Mail-box area overflow Software (1)Reset the alarm, and then try again.
25 Semaphore area Software (1)Reset the alarm, and then try again.
overflow operation error (2)If the alarm occurs again, save the
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30 Interrupt main command Software (1)Reset the alarm, and then try again.
33 Incorrect control group Software (1)Reset the alarm, and then try again.
designation operation error (2)If the alarm occurs again, save the
34 Offline bank semaphore Software (1)Reset the alarm, and then try again.
reception error operation error (2)If the alarm occurs again, save the
35 m_gen_area Software (1)Reset the alarm, and then try again.

semaphore reception operation error (2)If the alarm occurs again, save the
error occurred CMOS.BIN in maintenance mode, and then
36 Offline HA processing Software (1)Reset the alarm, and then try again.
timeout operation error (2)If the alarm occurs again, save the
37 DM_BANK flag error Software (1)Reset the alarm, and then try again.
(DM_BANK conversion operation error (2)If the alarm occurs again, save the
processing) occurred CMOS.BIN in maintenance mode, and then
38 S -> M offline Software (1)Reset the alarm, and then try again.
processing command operation error (2)If the alarm occurs again, save the
type error occurred CMOS.BIN in maintenance mode, and then
39 Function specification Software (1)Reset the alarm, and then try again.
error in the data operation error (2)If the alarm occurs again, save the
transmission to the occurred CMOS.BIN in maintenance mode, and then
sensor board contact your MOTOMAN representative about
40 Error in designation of Software (1)Reset the alarm, and then try again.
application in the operation error (2)If the alarm occurs again, save the
request of general- occurred CMOS.BIN in maintenance mode, and then
purpose data preset for contact your MOTOMAN representative about
each application. occurrence status (operating procedure).
45 Mail-box of sequence Software (1)Reset the alarm, and then try again.
task is not ready. operation error (2)If the alarm occurs again, save the
344 E1102000106GB02
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Code
46 Control-group usage Software (1)Reset the alarm, and then try again.
undefined operation error (2)If the alarm occurs again, save the
47 Segment task polling Software (1)Reset the alarm, and then try again.
command error operation error (2)If the alarm occurs again, save the
48 Physical axis number Software (1)Reset the alarm, and then try again.
49 The control group Software (1)Reset the alarm, and then try again.
impossible to release operation error (2)If the alarm occurs again, save the
the brake occurred CMOS.BIN in maintenance mode, and then
50 Sub-segment request Software (1)Reset the alarm, and then try again.
FULL operation error (2)If the alarm occurs again, save the
51 Sub-segment process Software (1)Reset the alarm, and then try again.
52 Data latch request FULL Software (1)Reset the alarm, and then try again.
53 Data latch process Software (1)Reset the alarm, and then try again.
54 AXIS command request Software (1)Reset the alarm, and then try again.
FULL operation error (2)If the alarm occurs again, save the
55 AXIS command process Software (1)Reset the alarm, and then try again.
E1102000106GB02 345
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Code
56 Positioning monitor Software (1)Reset the alarm, and then try again.
request FULL operation error (2)If the alarm occurs again, save the
57 Positioning monitor Software (1)Reset the alarm, and then try again.
process timeout operation error (2)If the alarm occurs again, save the
58 Failed AXIS servo OFF Software (1)Reset the alarm, and then try again.
command request operation error (2)If the alarm occurs again, save the
during category1 occurred CMOS.BIN in maintenance mode, and then
emergency stop contact your MOTOMAN representative about
59 AXIS servo OFF Software (1)Reset the alarm, and then try again.
command execution operation error (2)If the alarm occurs again, save the
system not set during occurred CMOS.BIN in maintenance mode, and then
category1 emergency contact your MOTOMAN representative about
stop occurrence status (operating procedure).
61 Conversion primary Software (1)Reset the alarm, and then try again.
expression for Power operation error (2)If the alarm occurs again, save the
Source command <-> occurred CMOS.BIN in maintenance mode, and then
EW command not contact your MOTOMAN representative about
prepared occurrence status (operating procedure).
62 Duplicated request error Software (1)Reset the alarm, and then try again.
during master control- operation error (2)If the alarm occurs again, save the
group tracking occurred CMOS.BIN in maintenance mode, and then
63 GVM shared resource Software (1)Reset the alarm, and then try again.
semaphore error operation error (2)If the alarm occurs again, save the
64 Job queue DEQUE Software (1)Reset the alarm, and then try again.
65 Conversion primary Software (1)Reset the alarm, and then try again.
expression for painting operation error (2)If the alarm occurs again, save the
device command <-> occurred CMOS.BIN in maintenance mode, and then
EW command not contact your MOTOMAN representative about
prepared occurrence status (operating procedure).
66 Execution system Software (1)Reset the alarm, and then try again.
decision table not set operation error (2)If the alarm occurs again, save the
346 E1102000106GB02
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67 Unknown mode data Software (1)Reset the alarm, and then try again.
(Without TEACH/PLAY operation error (2)If the alarm occurs again, save the
mode data) occurred CMOS.BIN in maintenance mode, and then
68 Shift-value output Software (1)Reset the alarm, and then try again.
timeout of the general- operation error (2)If the alarm occurs again, save the
purpose sensor occurred CMOS.BIN in maintenance mode, and then
69 Interrupt main status set Software (1)Reset the alarm, and then try again.
71 System number error at Software (1)Reset the alarm, and then try again.
the master side in twin operation error (2)If the alarm occurs again, save the
synchronous system occurred CMOS.BIN in maintenance mode, and then
72 No data link added to Software (1)Reset the alarm, and then try again.
the command operation error (2)If the alarm occurs again, save the
73 Setting status error of Software (1)Reset the alarm, and then try again.
the user coordinates file operation error (2)If the alarm occurs again, save the
75 Previous path data Software (1)Reset the alarm, and then try again.
reference error operation error (2)If the alarm occurs again, save the
76 Target position Software (1)Reset the alarm, and then try again.
preparation error in arc- operation error (2)If the alarm occurs again, save the
retry shift motion mode occurred CMOS.BIN in maintenance mode, and then
79 Inner track zone status Software (1)Reset the alarm, and then try again.
80 Instruction queue and Software (1)Reset the alarm, and then try again.
instruction system data operation error (2)If the alarm occurs again, save the
area overflow occurred CMOS.BIN in maintenance mode, and then
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81 Offline answer bank flag Software (1)Reset the alarm, and then try again.
82 Path and trace queue Software (1)Reset the alarm, and then try again.
ENQUE BANK error operation error (2)If the alarm occurs again, save the
83 Pending and block end Software (1)Reset the alarm, and then try again.
request FULL operation error (2)If the alarm occurs again, save the
84 Base axis file type error Software (1)Reset the alarm, and then try again.
85 Output buffer SYSCON Software (1)Reset the alarm, and then try again.
for automatic test data operation error (2)If the alarm occurs again, save the
in use occurred CMOS.BIN in maintenance mode, and then
86 Conversion completion Software (1)Reset the alarm, and then try again.
status for AXIS section operation error (2)If the alarm occurs again, save the
feedback latch data not occurred CMOS.BIN in maintenance mode, and then
established contact your MOTOMAN representative about
88 File C1 through C3 for Software (1)Reset the alarm, and then try again.
calibration between operation error (2)If the alarm occurs again, save the
robots not set occurred CMOS.BIN in maintenance mode, and then
89 File C1 through C3 for Software (1)Reset the alarm, and then try again.
conveyor calibration not operation error (2)If the alarm occurs again, save the
set occurred CMOS.BIN in maintenance mode, and then
90 HA function error Setting error (1)Check the following settings.

(conv_pos_data()) Correct the job so that the target position data
is within the motion range.
(2)If the alarm occurs again, save the
348 E1102000106GB02
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Code
91 HA function error Setting error (1)Check the following settings.

(conv_shift_data()) Correct the job so that the target position data
is within the motion range.
94 HA function error Software (1)Reset the alarm, and then try again.
(conv_pulse_to_angle()) operation error (2)If the alarm occurs again, save the
95 HA function error Software (1)Reset the alarm, and then try again.
(pr_atinf_pos_make()) operation error (2)If the alarm occurs again, save the
100 Control-group axis Software (1)Reset the alarm, and then try again.
configuration operation error (2)If the alarm occurs again, save the
information parameter occurred CMOS.BIN in maintenance mode, and then
error contact your MOTOMAN representative about
101 Error in the parameter Software (1)Reset the alarm, and then try again.
for the table for physical operation error (2)If the alarm occurs again, save the
axes occurred CMOS.BIN in maintenance mode, and then
102 Error in the parameter Software (1)Reset the alarm, and then try again.
for the table for physical operation error (2)If the alarm occurs again, save the
TU occurred CMOS.BIN in maintenance mode, and then
103 Excessive number of Software (1)Reset the alarm, and then try again.
control group axes in operation error (2)If the alarm occurs again, save the
use occurred CMOS.BIN in maintenance mode, and then
104 JOG and PLAY Software (1)Reset the alarm, and then try again.
maximum speed setting operation error (2)If the alarm occurs again, save the
parameter error occurred CMOS.BIN in maintenance mode, and then
121 Job argument stack Software (1)Reset the alarm, and then try again.
overflow operation error (2)If the alarm occurs again, save the
122 Job argument stack Software (1)Reset the alarm, and then try again.
underflow operation error (2)If the alarm occurs again, save the
E1102000106GB02 349
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123 Designation error of the Software (1)Reset the alarm, and then try again.
fetched feedback pulse operation error (2)If the alarm occurs again, save the
area at preparation of occurred CMOS.BIN in maintenance mode, and then
current value contact your MOTOMAN representative about
128 Timeout for waiting Software (1)Reset the alarm, and then try again.
permission to modify the operation error (2)If the alarm occurs again, save the
number of averaging occurred CMOS.BIN in maintenance mode, and then
times contact your MOTOMAN representative about
129 Object undefined for Software (1)Reset the alarm, and then try again.
CLEAR instruction operation error (2)If the alarm occurs again, save the
130 No space in RT_BANK Software (1)Reset the alarm, and then try again.
setting area for operation error (2)If the alarm occurs again, save the
correction-amount data occurred CMOS.BIN in maintenance mode, and then
131 Queue operation error Software (1)Reset the alarm, and then try again.
for variable write-in operation error (2)If the alarm occurs again, save the
history at prereading (at occurred CMOS.BIN in maintenance mode, and then
ENQUE) contact your MOTOMAN representative about
history at prereading (at occurred CMOS.BIN in maintenance mode, and then
DEQUE) contact your MOTOMAN representative about
history at prereading occurred CMOS.BIN in maintenance mode, and then
(undefined operation) contact your MOTOMAN representative about
history at prereading occurred CMOS.BIN in maintenance mode, and then
(data length too long) contact your MOTOMAN representative about
for score-board setting operation error (2)If the alarm occurs again, save the
history (at ENQUE) occurred CMOS.BIN in maintenance mode, and then
history (at DEQUE) occurred CMOS.BIN in maintenance mode, and then
350 E1102000106GB02
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history (undefined occurred CMOS.BIN in maintenance mode, and then
operation) contact your MOTOMAN representative about
history (data length too occurred CMOS.BIN in maintenance mode, and then
long) contact your MOTOMAN representative about
for instruction execution operation error (2)If the alarm occurs again, save the
(at ENQUE) occurred CMOS.BIN in maintenance mode, and then
(at DEQUE) occurred CMOS.BIN in maintenance mode, and then
(undefined operation) occurred CMOS.BIN in maintenance mode, and then
(data length too long) occurred CMOS.BIN in maintenance mode, and then
for WORK ID conveyor operation error (2)If the alarm occurs again, save the
(at ENQUE) occurred CMOS.BIN in maintenance mode, and then
(at DEQUE) occurred CMOS.BIN in maintenance mode, and then
(undefined operation) occurred CMOS.BIN in maintenance mode, and then
(data length too long) occurred CMOS.BIN in maintenance mode, and then
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for WORK IN/OUT operation error (2)If the alarm occurs again, save the
checking conveyor (at occurred CMOS.BIN in maintenance mode, and then
ENQUE) contact your MOTOMAN representative about
checking conveyor (at occurred CMOS.BIN in maintenance mode, and then
DEQUE) contact your MOTOMAN representative about
checking conveyor occurred CMOS.BIN in maintenance mode, and then
(undefined operation) contact your MOTOMAN representative about
checking conveyor (data occurred CMOS.BIN in maintenance mode, and then
length too long) contact your MOTOMAN representative about
for waiting for operation error (2)If the alarm occurs again, save the
semaphore for LOCK occurred CMOS.BIN in maintenance mode, and then
instruction (at ENQUE) contact your MOTOMAN representative about
instruction (at DEQUE) contact your MOTOMAN representative about
instruction (undefined contact your MOTOMAN representative about
operation) occurrence status (operating procedure).
instruction (data length contact your MOTOMAN representative about
too long) occurrence status (operating procedure).
221 Transfer data overflow Software (1)Reset the alarm, and then try again.
in offline data bank operation error (2)If the alarm occurs again, save the
222 Impossible to execute Software (1)Reset the alarm, and then try again.
system exclusive for operation error (2)If the alarm occurs again, save the
system job occurred CMOS.BIN in maintenance mode, and then
352 E1102000106GB02
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223 Event queue number Software (1)Reset the alarm, and then try again.
range exceeded operation error (2)If the alarm occurs again, save the
224 No motor-gun control Software (1)Reset the alarm, and then try again.
group for ESRCH operation error (2)If the alarm occurs again, save the
instruction occurred CMOS.BIN in maintenance mode, and then
225 The number of WORK Software (1)Reset the alarm, and then try again.
ID data and the MAX. operation error (2)If the alarm occurs again, save the
WORK FIND COUNT occurred CMOS.BIN in maintenance mode, and then
unmatched (MOTION contact your MOTOMAN representative about
CV) occurrence status (operating procedure).
226 The number of WORK Software (1)Reset the alarm, and then try again.
IN/OUT data and the operation error (2)If the alarm occurs again, save the
MAX. WORK FIND occurred CMOS.BIN in maintenance mode, and then
COUNT unmatched contact your MOTOMAN representative about
(MOTION CV) occurrence status (operating procedure).
227 Excessive number of Software (1)Reset the alarm, and then try again.
scheduling for execution operation error (2)If the alarm occurs again, save the
of instructions occurred CMOS.BIN in maintenance mode, and then
228 Instruction execution Software (1)Reset the alarm, and then try again.
scheduling impossible operation error (2)If the alarm occurs again, save the
229 Illegal 1st-line move Software (1)Reset the alarm, and then try again.
instruction at execution operation error (2)If the alarm occurs again, save the
of +SMOV instruction occurred CMOS.BIN in maintenance mode, and then
the slave circular operation error (2)If the alarm occurs again, save the
interpolation and the occurred CMOS.BIN in maintenance mode, and then
master circular contact your MOTOMAN representative about
interpolation at the occurrence status (operating procedure).
same time
the slave spline operation error (2)If the alarm occurs again, save the
interpolation and the occurred CMOS.BIN in maintenance mode, and then
master spline contact your MOTOMAN representative about
interpolation at the occurrence status (operating procedure).
same time
232 Illegal index value for a Software (1)Reset the alarm, and then try again.
+MOVx instruction operation error (2)If the alarm occurs again, save the
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Code
233 No xth-line move Software (1)Reset the alarm, and then try again.
instruction exists where operation error (2)If the alarm occurs again, save the
the master control group occurred CMOS.BIN in maintenance mode, and then
belongs. contact your MOTOMAN representative about
234 Marking error for WORK Software (1)Reset the alarm, and then try again.
ID conveyor queue operation error (2)If the alarm occurs again, save the
(empty queue) occurred CMOS.BIN in maintenance mode, and then
235 Marking error for WORK Software (1)Reset the alarm, and then try again.
IN/OUT conveyor queue operation error (2)If the alarm occurs again, save the
(empty queue) occurred CMOS.BIN in maintenance mode, and then
236 Data error 1 at restarting Software (1)Reset the alarm, and then try again.
after an emergency stop operation error (2)If the alarm occurs again, save the
(actual status and the occurred CMOS.BIN in maintenance mode, and then
data status unmatched) contact your MOTOMAN representative about
239 Timeout for receiving Software (1)Reset the alarm, and then try again.
segment data output operation error (2)If the alarm occurs again, save the
request occurred CMOS.BIN in maintenance mode, and then
240 The number which Software (1)Reset the alarm, and then try again.
designates the setting operation error (2)If the alarm occurs again, save the
area of correction occurred CMOS.BIN in maintenance mode, and then
amount in RT_BANK contact your MOTOMAN representative about
exceeded the limit occurrence status (operating procedure).
value.
241 Task error of the Software (1)Reset the alarm, and then try again.
function calling source operation error (2)If the alarm occurs again, save the
(cv_sync_intr ( )) occurred CMOS.BIN in maintenance mode, and then
242 No control group for Software (1)Reset the alarm, and then try again.
motor gun for clearance operation error (2)If the alarm occurs again, save the
move instruction occurred CMOS.BIN in maintenance mode, and then
354 E1102000106GB02
DX100 controller
Sub
Code
243 Motor gun condition file Software (1)Reset the alarm, and then try again.
number error (including operation error (2)If the alarm occurs again, save the
gun pressure file) occurred CMOS.BIN in maintenance mode, and then
244 GETTOOLW robot Software (1)Reset the alarm, and then try again.
designation error operation error (2)If the alarm occurs again, save the
245 Overflow of entry Software (1)Reset the alarm, and then try again.
number for instruction operation error (2)If the alarm occurs again, save the
execution occurred CMOS.BIN in maintenance mode, and then
246 Data latch processing Software (1)Reset the alarm, and then try again.
(function number operation error (2)If the alarm occurs again, save the
overflow) occurred CMOS.BIN in maintenance mode, and then
247 Data latch processing Software (1)Reset the alarm, and then try again.
(real-time status number operation error (2)If the alarm occurs again, save the
overflow) occurred CMOS.BIN in maintenance mode, and then
248 Failed to set a timer Software (1)Reset the alarm, and then try again.
unit. (No allocation operation error (2)If the alarm occurs again, save the
space for timer unit occurred CMOS.BIN in maintenance mode, and then
setting) contact your MOTOMAN representative about
249 Segment data missing Software (1)Reset the alarm, and then try again.
(seg_t_req was not operation error (2)If the alarm occurs again, save the
received in time.) occurred CMOS.BIN in maintenance mode, and then
250 GETS instruction Software (1)Reset the alarm, and then try again.
internal error operation error (2)If the alarm occurs again, save the
251 SETFILE undefined file Software (1)Reset the alarm, and then try again.
252 GETFILE undefined file Software (1)Reset the alarm, and then try again.
E1102000106GB02 355
DX100 controller
Sub
Code
253 The parameter was Software (1)Reset the alarm, and then try again.
destroyed when a operation error (2)If the alarm occurs again, save the
GETPRM instruction occurred CMOS.BIN in maintenance mode, and then
was executed. contact your MOTOMAN representative about
254 Null pointer assignment Software (1)Reset the alarm, and then try again.
detected operation error (2)If the alarm occurs again, save the
255 Function or other Software (1)Reset the alarm, and then try again.
processing parameter operation error (2)If the alarm occurs again, save the
260 Arithmetic answer is not Software (1)Reset the alarm, and then try again.
set at prereading operation error (2)If the alarm occurs again, save the
(ADV_HA_ANS.flag == occurred CMOS.BIN in maintenance mode, and then
OFF) contact your MOTOMAN representative about
261 Heap area obtainment Software (1)Reset the alarm, and then try again.
failure (A_BANK) operation error (2)If the alarm occurs again, save the
failure (C_BANK) operation error (2)If the alarm occurs again, save the
failure (Instruction operation error (2)If the alarm occurs again, save the
queue) occurred CMOS.BIN in maintenance mode, and then
failure (Path/trace operation error (2)If the alarm occurs again, save the
queue) occurred CMOS.BIN in maintenance mode, and then
279 Specified MSS system Software (1)Reset the alarm, and then try again.
instance is not operation error (2)If the alarm occurs again, save the
generated. occurred CMOS.BIN in maintenance mode, and then
280 API Software (1)Reset the alarm, and then try again.
error(HDAS_get_alias_ operation error (2)If the alarm occurs again, save the
name()) occurred CMOS.BIN in maintenance mode, and then
356 E1102000106GB02
DX100 controller
Sub
Code
500 SL undefined interrupt Software (1)Reset the alarm, and then try again.
command (main operation error (2)If the alarm occurs again, save the
command) occurred CMOS.BIN in maintenance mode, and then
501 SL undefined interrupt Software (1)Reset the alarm, and then try again.
command (sub operation error (2)If the alarm occurs again, save the
command) occurred CMOS.BIN in maintenance mode, and then
502 Previous SL interrupt Software (1)Reset the alarm, and then try again.
command processing operation error (2)If the alarm occurs again, save the
503 SL interrupt command Software (1)Reset the alarm, and then try again.
data error operation error (2)If the alarm occurs again, save the
999 Arithmetic section error Software (1)Reset the alarm, and then try again.
(segment data all zero operation error (2)If the alarm occurs again, save the
timeout) occurred CMOS.BIN in maintenance mode, and then
1000 System clock (RTC) Software (1)Reset the alarm, and then try again.
setting error operation error (2)If the alarm occurs again, save the
1001 System task priority Software (1)Reset the alarm, and then try again.
arrangement error operation error (2)If the alarm occurs again, save the
1002 VxWorks primitive error Software (1)Reset the alarm, and then try again.
(msgQCreate) operation error (2)If the alarm occurs again, save the
(msgQSend) operation error (2)If the alarm occurs again, save the
(semBCreate) operation error (2)If the alarm occurs again, save the
E1102000106GB02 357
DX100 controller
Sub
Code
(semTake) operation error (2)If the alarm occurs again, save the
1100 Failed system job Software (1)Reset the alarm, and then try again.
environment operation error (2)If the alarm occurs again, save the
configuration occurred CMOS.BIN in maintenance mode, and then
2000 Failed system job Software (1)Reset the alarm, and then try again.
environment operation error (2)If the alarm occurs again, save the
configuration occurred CMOS.BIN in maintenance mode, and then
5.0.110 SYSTEM ERROR (ARITH)
Sub
Code
1 Prereading task is not Software (1)Reset the alarm, and then try again.
completed. operation error (2)If the alarm occurs again, save the
5 The averaging buffer in Software (1)Reset the alarm, and then try again.
the arithmetic section is operation error (2)If the alarm occurs again, save the
destroyed. occurred CMOS.BIN in maintenance mode, and then
6 No previous bank Software (1)Reset the alarm, and then try again.
exists. operation error (2)If the alarm occurs again, save the
7 The answer bank flag is Software (1)Reset the alarm, and then try again.
ON. operation error (2)If the alarm occurs again, save the
8 An error occurred in Software (1)Reset the alarm, and then try again.
preparation of current operation error (2)If the alarm occurs again, save the
position. occurred CMOS.BIN in maintenance mode, and then
358 E1102000106GB02
DX100 controller
Sub
Code
9 Mails could not correctly Software (1)Reset the alarm, and then try again.
be received in the operation error (2)If the alarm occurs again, save the
current task. occurred CMOS.BIN in maintenance mode, and then
10 Spline-curve path Software (1)Reset the alarm, and then try again.
11 The previous bank's Software (1)Reset the alarm, and then try again.
prereading conversion operation error (2)If the alarm occurs again, save the
could not correctly be occurred CMOS.BIN in maintenance mode, and then
completed. contact your MOTOMAN representative about
12 A robot designation Software (1)Reset the alarm, and then try again.
error occurred at JOG operation error (2)If the alarm occurs again, save the
operation using the occurred CMOS.BIN in maintenance mode, and then
external reference point. contact your MOTOMAN representative about
13 Designation error of Software (1)Reset the alarm, and then try again.
cubic interference operation error (2)If the alarm occurs again, save the
coordinates occurred CMOS.BIN in maintenance mode, and then
14 Path control position Software (1)Reset the alarm, and then try again.
data error of prereading operation error (2)If the alarm occurs again, save the
bank occurred CMOS.BIN in maintenance mode, and then
16 Station/base axis Software (1)Reset the alarm, and then try again.
motion command error operation error (2)If the alarm occurs again, save the
18 User coordinates Software (1)Reset the alarm, and then try again.
number error operation error (2)If the alarm occurs again, save the
19 Processing error in re- Software (1)Reset the alarm, and then try again.
preparation of segment operation error (2)If the alarm occurs again, save the
control data occurred CMOS.BIN in maintenance mode, and then
20 Prereading task not Software (1)Reset the alarm, and then try again.
completed at master in operation error (2)If the alarm occurs again, save the
twin synchronous occurred CMOS.BIN in maintenance mode, and then
system contact your MOTOMAN representative about
E1102000106GB02 359
DX100 controller
Sub
Code
23 Dynamic model Software (1)Reset the alarm, and then try again.
arithmetic error operation error (2)If the alarm occurs again, save the
24 Speed limit control error Setting error (1)Check the following settings.
(excessive moment of The allowable breaking torque was exceeded
gravity) only by the gravity moment. Set the gravity
value of the tool within payload of the robot.
Teach the robot orientation that does not
become the overload for each-axes of the robot.
25 Square root of a Software (1)Reset the alarm, and then try again.
negative number operation error (2)If the alarm occurs again, save the
26 The system number is Software (1)Reset the alarm, and then try again.
not set at master in twin operation error (2)If the alarm occurs again, save the
synchronous system. occurred CMOS.BIN in maintenance mode, and then
29 FORMCUT internal Software (1)Reset the alarm, and then try again.
control error operation error (2)If the alarm occurs again, save the
30 Arm interference check Software (1)Reset the alarm, and then try again.
error (radius data operation error (2)If the alarm occurs again, save the
referencing mistake) occurred CMOS.BIN in maintenance mode, and then
error (miscalculation operation error (2)If the alarm occurs again, save the
using direct kinematics) occurred CMOS.BIN in maintenance mode, and then
error (L-axis expansion operation error (2)If the alarm occurs again, save the
flag setting error) occurred CMOS.BIN in maintenance mode, and then
error (check-point re- operation error (2)If the alarm occurs again, save the
setting error) occurred CMOS.BIN in maintenance mode, and then
360 E1102000106GB02
DX100 controller
Sub
Code
34 Impossible to edit the Software (1)Reset the alarm, and then try again.
averaging buffer (zero operation error (2)If the alarm occurs again, save the
division) occurred CMOS.BIN in maintenance mode, and then
35 No master-group is Software (1)Reset the alarm, and then try again.

designated at operation error (2)If the alarm occurs again, save the
preparation of master- occurred CMOS.BIN in maintenance mode, and then
tool user coordinates. contact your MOTOMAN representative about
37 Gauging function error Software (1)Reset the alarm, and then try again.
(command designation operation error (2)If the alarm occurs again, save the
error) occurred CMOS.BIN in maintenance mode, and then
38 A coordinated motion Setting error (1)Check the following settings.

was attempted using the Change the setting so that only the robot
Following function. moves.
**The coordinated motion cannot be performed
by the Following function.
39 Zero or a negative value Setting error (1)Check the following settings.

is set for the bending Set a positive value for the bending speed.
speed of the Following
function.

is set for the bending Set a positive value for the bending stroke.
stroke of the Following
function.
41 Pulse linked JOG Software (1)Reset the alarm, and then try again.
function error operation error (2)If the alarm occurs again, save the
42 Special JOG operation Software (1)Reset the alarm, and then try again.
44 Segment overless: Setting error (1)Check the following settings.

Segment excessive The teaching position cannot hold down the
error speed by the segment overless function.
Reduce the teaching speed of the job.
45 Segment overless: Path Software (1)Reset the alarm, and then try again.
calculation repeat error operation error (2)If the alarm occurs again, save the
E1102000106GB02 361
DX100 controller
Sub
Code
47 Play path control: Software (1)Reset the alarm, and then try again.
initialization error operation error (2)If the alarm occurs again, save the
48 Play path control: Software (1)Reset the alarm, and then try again.
continue process error operation error (2)If the alarm occurs again, save the
49 Play path control: Step Software (1)Reset the alarm, and then try again.
continuous initialization operation error (2)If the alarm occurs again, save the
50 Play path control: step Software (1)Reset the alarm, and then try again.
continuous motion operation error (2)If the alarm occurs again, save the
execution process error occurred CMOS.BIN in maintenance mode, and then
54 Approximation model Software (1)Reset the alarm, and then try again.
internal control error operation error (2)If the alarm occurs again, save the
55 Pair coordinate system Software (1)Reset the alarm, and then try again.
position calculation operation error (2)If the alarm occurs again, save the
function error occurred CMOS.BIN in maintenance mode, and then
65535 For HA debug use Software (1)Reset the alarm, and then try again.
5.0.111 OFFLINE SYSTEM ERROR (ARITH)
Sub
Code
100 Data setting error in Software (1)Reset the alarm, and then try again.
offline data bank operation error (2)If the alarm occurs again, save the
362 E1102000106GB02
DX100 controller
Sub
Code
101 Data setting error in Software (1)Reset the alarm, and then try again.
offline answer bank operation error (2)If the alarm occurs again, save the
102 OFF_USER_POS Software (1)Reset the alarm, and then try again.
occupation control error operation error (2)If the alarm occurs again, save the
103 OFF_USER_POS valid Software (1)Reset the alarm, and then try again.
104 Mail-receiving error of Software (1)Reset the alarm, and then try again.
offline task operation error (2)If the alarm occurs again, save the
105 Offline occupation Software (1)Reset the alarm, and then try again.
107 OFF_USER_ROT_POS Software (1)Reset the alarm, and then try again.
108 OFF_USER_ROT_POS Software (1)Reset the alarm, and then try again.
valid control error operation error (2)If the alarm occurs again, save the
109 OFF_CV_CALIB_POS Software (1)Reset the alarm, and then try again.
110 OFF_CV_CALIB_POS Software (1)Reset the alarm, and then try again.
valid control error operation error (2)If the alarm occurs again, save the
111 Incorrect teaching for Software (1)Reset the alarm, and then try again.
offline conveyor tracking operation error (2)If the alarm occurs again, save the
turntable function occurred CMOS.BIN in maintenance mode, and then
E1102000106GB02 363
DX100 controller
Sub
Code
112 No robot is designated Software (1)Reset the alarm, and then try again.
for offline conveyor operation error (2)If the alarm occurs again, save the
tracking turntable occurred CMOS.BIN in maintenance mode, and then
5.0.112 SYSTEM ERROR (LOCAL VARIABLE)
Sub
Code
-1 Local variable is not Software (1)Reset the alarm, and then try again.
used. operation error (2)If the alarm occurs again, save the
-2 Memory area for local Software (1)Reset the alarm, and then try again.
variable could not be operation error (2)If the alarm occurs again, save the
obtained. occurred CMOS.BIN in maintenance mode, and then
-3 No unused handle value Software (1)Reset the alarm, and then try again.
exists when local operation error (2)If the alarm occurs again, save the
variable area is created. occurred CMOS.BIN in maintenance mode, and then
exclusive control. operation error (2)If the alarm occurs again, save the
-5 Handle value is invalid Software (1)Reset the alarm, and then try again.
for specified local operation error (2)If the alarm occurs again, save the
variable. occurred CMOS.BIN in maintenance mode, and then
-6 Handle value is Software (1)Reset the alarm, and then try again.
incorrect for specified operation error (2)If the alarm occurs again, save the
local variable. occurred CMOS.BIN in maintenance mode, and then
-7 An error occurred when Software (1)Reset the alarm, and then try again.
memory area for local operation error (2)If the alarm occurs again, save the
variable was released. occurred CMOS.BIN in maintenance mode, and then
364 E1102000106GB02
DX100 controller
Sub
Code
-8 An error occurred when Software (1)Reset the alarm, and then try again.
memory area for local operation error (2)If the alarm occurs again, save the
variable was registered. occurred CMOS.BIN in maintenance mode, and then
-9 Local variable control Software (1)Reset the alarm, and then try again.
process is not initialized. operation error (2)If the alarm occurs again, save the
-10 Local variable area Software (1)Reset the alarm, and then try again.
shared heap area. operation error (2)If the alarm occurs again, save the
exclusive control when operation error (2)If the alarm occurs again, save the
control of the local occurred CMOS.BIN in maintenance mode, and then
variable was processed. contact your MOTOMAN representative about
5.0.113 SERVO POWER OFF FOR JOB
Sub
Code
Sub Code: Control Setting error (1)Check the following settings.

group Turn OFF the servo power supply, and then
turn ON the servo power supply for the group
axis to be operated.
5.0.114 SERVO POWER OFF FOR JOB
Sub
Code
Sub Code: Control The servo power Turn OFF the servo power supply, and then
group is not supplied. turn ON the servo power supply for the group
axis to be operated.
E1102000106GB02 365
DX100 controller
5.0.115 MEMOPLAY FILE ERROR
Sub
Code
control process for operation error (2)If the alarm occurs again, save the
memory play file. occurred CMOS.BIN in maintenance mode, and then
-2 The arrangement Software (1)Reset the alarm, and then try again.
address information is operation error (2)If the alarm occurs again, save the
destroyed for memory occurred CMOS.BIN in maintenance mode, and then
play file system. contact your MOTOMAN representative about
-3 The fixed control Software (1)Reset the alarm, and then try again.
information is destroyed operation error (2)If the alarm occurs again, save the
for memory play file occurred CMOS.BIN in maintenance mode, and then
system. contact your MOTOMAN representative about
-4 The fixed control Software (1)Reset the alarm, and then try again.
information is destroyed operation error (2)If the alarm occurs again, save the
for memory play file occurred CMOS.BIN in maintenance mode, and then
system. contact your MOTOMAN representative about
newly register the operation error (2)If the alarm occurs again, save the
memory play file under occurred CMOS.BIN in maintenance mode, and then
use. contact your MOTOMAN representative about
checking written operation error (2)If the alarm occurs again, save the
sampling data when the occurred CMOS.BIN in maintenance mode, and then
data was written to contact your MOTOMAN representative about
CMOS. occurrence status (operating procedure).
access an unused operation error (2)If the alarm occurs again, save the
memory play file data. occurred CMOS.BIN in maintenance mode, and then
-8 The memory play file is Software (1)Reset the alarm, and then try again.
-9 The memory area for Software (1)Reset the alarm, and then try again.
sampling data is full. operation error (2)If the alarm occurs again, save the
366 E1102000106GB02
DX100 controller
Sub
Code
-10 The sampling data is Software (1)Reset the alarm, and then try again.
-11 Data in control process Software (1)Reset the alarm, and then try again.
for memory play file is operation error (2)If the alarm occurs again, save the
-12 The sampling data is Software (1)Reset the alarm, and then try again.
scanned only at top or operation error (2)If the alarm occurs again, save the
end position. occurred CMOS.BIN in maintenance mode, and then
-13 The memory play file Software (1)Reset the alarm, and then try again.
system is not initialized. operation error (2)If the alarm occurs again, save the
-14 The offset value is out of Software (1)Reset the alarm, and then try again.
range at sampling data operation error (2)If the alarm occurs again, save the
scanning. occurred CMOS.BIN in maintenance mode, and then
5.0.116 OVER SPEED (YCP01)
Sub
Code
Signifies the control axis Setting error (1)Check the following settings.
number which detected The gun electrode hits the welded target
an error distance of motor gun
robot motion (external force, gravity)

The motor power line
The encoder line
Unit failure (1)Reset the alarm.

following unit.
The motor
E1102000106GB02 367
DX100 controller
Sub
Code

board.
5.0.117 COMMUNICATION SERVICE ERROR
Sub
Code
1 The communication Setting error (1)Check the following settings.

channel could not be Setting of the RS (transmission) parameter
opened/closed at
OPEN/CLOSE
instruction execution.
is already opened. The serial port setting
is not opened. The serial port setting
102 No space was found in Setting error (1)Check the following settings.
data sent buffer. The serial port setting
103 The setting value for the Setting error (1)Check the following settings.
event queue RS157Set to 1 to 4
designation parameter
is incorrect.
105 The type of output data Setting error (1)Check the following settings.
is incorrect. The serial port setting
368 E1102000106GB02
DX100 controller
5.0.118 WRONG DATA
Sub
Code
Software (1)Reset the alarm, and then execute following

operation error operation.
occurred Execute "RESTORE" by selecting "UTILITY"
from the pull-down menu.
*Occurance date changes to restoration date
after it is restored.
Turn the power OFF and then ON to check the
factor of the inconsistency 1, and 2, on the data
inconsistency screen in maintenance mode .
The factor 1: Check the position of the
corresponding file
The factor 2: Register the position of the
corresponding file again
*The factor 3:Just turn the power OFF and then
ON again.
(2)If it would not restore, select "RE CHECK"
from the pull-down menu.
5.0.119 ETHERNET PROCESS ERROR
Sub
Code

acquisition process of The DHCP server operation (If the DHCP is
the IP address during used)
the IP address The network status (If the DHCP is used)
monitoring process of

board.
E1102000106GB02 369
DX100 controller
Sub
Code

subnet mask during the used)
network service data The network status (If the DHCP is used)
creation process of the
Ethernet function.

board.

gateway during the used)
Ethernet function.

board.

conversion process of The DHCP server operation (If the DHCP is
gateway address during used)
the network service data The network status (If the DHCP is used)
Ethernet function.

board.

conversion process of The DHCP server operation (If the DHCP is
DNS server address used)
during the network The network status (If the DHCP is used)
service data creation
function.
370 E1102000106GB02
DX100 controller
Sub
Code

board.

domain during the used)
Ethernet function.

board.

SNTP server during the used)
Ethernet function.

board.

host name during the used)
Ethernet function.

board.

newest DNS information The DHCP server operation (If the DHCP is
getting process from used)
DHCP server in the The network status (If the DHCP is used)
DNS process of the
Ethernet function.
E1102000106GB02 371
DX100 controller
Sub
Code

board.

setting process to The DHCP server operation (If the DHCP is
update DNS information used)
in the DNS process of The network status (If the DHCP is used)

board.

setting clearing process The DHCP server operation (If the DHCP is
to update DNS used)
information in the DNS The network status (If the DHCP is used)
function.

board.
20 The subnet mask was Setting error (1)Check the following settings.
not able to be acquired The DHCP server operation (If the DHCP is
in the DHCP information used)
update process of the The network status (If the DHCP is used)
Ethernet function.

board.
21 Subnet mask update Setting error (1)Check the following settings.

error occurred in the The DHCP server operation (If the DHCP is
DHCP information used)
update process of the The network status (If the DHCP is used)
Ethernet function.
372 E1102000106GB02
DX100 controller
Sub
Code

board.
25 Gateway update error Setting error (1)Check the following settings.

occurred in the DHCP The DHCP server operation (If the DHCP is
information update used)
process of the Ethernet The network status (If the DHCP is used)
function.

board.
26 Gateway clear error Setting error (1)Check the following settings.

occurred in the DHCP The DHCP server operation (If the DHCP is
information update used)
process of the Ethernet The network status (If the DHCP is used)
function.

board.
5.0.120 VERIFY ERROR (SERVO PARAMETER)
Sub
Code
Setting error Check whether the setting is within the

allowable range.

board to be safe.
E1102000106GB02 373
DX100 controller
5.0.121 CONTACTOR ERROR
Sub
Code
Sub Code: Signifies the Module failure Check if the contactors (1KM and 2KM) are
physical No. of (contactor) open, and not damaged by melting or sticking.
contactor in which the Check the insertion and connection of the
alarm occurred followings.
YSU-CN214
Before performing a YPU-CN607,CN-611
connection check of the
wiring, turn OFF the
controller power. Make
sure that all the LEDs of
SERVOPACK and
converter are OFF, then
verify that no electricity
is charged using
equipment such as a
tester. This process
may take a few minutes
after shutting off the
power.

board to be safe.
5.0.122 BRAKE CIRCUIT ERROR
Sub
Code


board to be safe.
374 E1102000106GB02
DX100 controller
5.0.123 CONVERTER READY SIGNAL ERROR
Sub
Code
physical No. of failure the power OFF then back ON.)
converter in which the (2)If the alarm occurs again, check the
alarm occurred connection and inserting state of the following
YPU unit
EAXA board CN512
Module failure Check if the contactors (1KM and 2KM) are

(contactor) open, and not damaged by melting or sticking.

board to be safe.

SERVOPACK.
5.0.124 CONVERTER INPUT POWER ERROR
Sub
Code
Sub Code: Signifies the Module failure Check if the contactors 1KM and 2KM are not
physical No. of (contactor) damaged by melting or sticking.
converter in which the
alarm occurred
board to be safe.

EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
E1102000106GB02 375
DX100 controller
Sub
Code

SERVOPACK.
5.0.125 CONVERTER CIRCUIT CHARGE ERROR
Sub
Code
physical No. of (converter) the power OFF then back ON.)
converter in which the (2)If the alarm occurs again, replace the
alarm occurred SERVOPACK.
Module failure Check if there is no ground fault in the

(Regenerative regeneration resistors.
resistor)
5.0.126 AMPLIFIER READY SIGNAL ERROR
Sub
Code
EAXA-CN501 to to 506,CN510
EAXB-CN531,532,533
Amplifier-CN581,582
Converter-CN551,552A,552B
Power supply Replace the power supply.

failure

amplifier.

board to be safe.
376 E1102000106GB02
DX100 controller
5.0.127 SERVO ON DEFECTIVE SPEED
Sub
Code
Sub Code: Signifies the Movement of Turn ON the servo power after 5 or more
axis in which the alarm axis when the seconds from the alarm occurrence.
occurred SERVO ON
process

The SERVOPACK motor power line connector
The power cable connection of the robot cable.

board to be safe.
Mechanical Check that the robot is not moving when the

failure servo turned ON.

YBK board Check that the brake has not been released
failure because the brake relay is broken.
5.0.128 VOLTAGE DROP (CONVERTER)
Sub
Code
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553
E1102000106GB02 377
DX100 controller
Sub
Code

SERVOPACK.

board to be safe.
Voltage failure Check if the primary power supply voltage is

dropping.
5.0.129 DEFECTIVE ENCODER INTERNAL DATA
Sub
Code
axis in which the alarm (encoder) the power OFF then back ON.)
occurred (2)If the alarm occurs again, replace the
encoder.

5.0.130 ENCODER OVERHEAT
Sub
Code
Sub Code: Signifies the Overheated Turn OFF the NX100 power for approx. 10
axis in which the alarm encoder minutes, then turn it ON again.
occurred
High ambient Adjust the ambient temperature to 40C or less.

temperature
378 E1102000106GB02
DX100 controller
Sub
Code

encoder.

board to be safe.
5.0.131 ENCODER BACK-UP ERROR
Sub
Code
Sub Code: Signifies the Module {AL-4314 occurred}

axis in which the alarm failure(encoder Replace the battery of the axis in which the error
occurred battery) occurred.

[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

robot cable
E1102000106GB02 379
DX100 controller
5.0.132 ENCODER BATTERY ERROR
Sub
Code
Module Replace the battery.

failure(encoder
battery)

robot cable
5.0.133 COLLISION DETECT
Sub
Code
Sub Code: Signifies the Setting error Check the following settings.
axis in which the alarm The tool information
occurred The selection tap of the transfer
The collision detection level
JOB
Work
The speed of JOB
The acceleration/deceleration speed of ACC
and DEC
Length of the power cables
Diameter of the power cables
Interference Remove the following interferences.

error The interferences to the jigs of Robot.
The interferences to the jigs of workpieces.


amplifier.
380 E1102000106GB02
DX100 controller
Sub
Code

Maintenance Measure the density of grease iron powder in

failure the speed reducer and do the maintenance.
Defective speed Replace the speed reducer or the grease of it.

reducer
Module Check the brake voltage.

failure(brake) Check that the brake is not locked by
malfunction of contactor.
5.0.134 PRESSURE DATA LIMIT
Sub
Code
axis in which the alarm The gun pressure file
occurred The dry spotting pressure file
*Reset the pressure value in the gun pressure
file below the maximum pressure value
5.0.135 PRELOAD ERROR
Sub
Code
Setting error Adjust the gun opening.
E1102000106GB02 381
DX100 controller
5.0.136 SERIAL ENCODER CORRECTION LIMIT
Sub
Code
[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

encoder.

board to be safe.
5.0.137 OVERLOAD (CONTINUE)
Sub
Code
axis in which the alarm The tools or the mass of the workpieces
occurred Reduction in the moments
Reduction in the motion speed

following cables.
The wire harness in the robot.

382 E1102000106GB02
DX100 controller
Sub
Code

board to be safe.
board to be safe.
Interference Remove interference with the workpiece and

error peripheral device.
Setting error Correct the job whether load late does not
exceed 100%.

5.0.138 OVERLOAD (MOMENT)
Sub
Code

following cables.


board to be safe.
board to be safe.
E1102000106GB02 383
DX100 controller
Sub
Code

exceed 100%.

5.0.139 AMPLIFIER OVERLOAD (CONTINUE)
Sub
Code

following cables.


board to be safe.
board to be safe.

exceed 100%.

384 E1102000106GB02
DX100 controller
5.0.140 AMPLIFIER OVERLOAD (MOMENT)
Sub
Code

following cables.


board to be safe.
board to be safe.

exceed 100%.

5.0.141 CONVERTER OVERLOAD
Sub
Code
Setting error Check the following settings.

The robot operating condition
Teaching speed
E1102000106GB02 385
DX100 controller
5.0.142 OVER SPEED
Sub
Code
axis in which the alarm Reduction in the motion speed
occurred


board to be safe.
Motor gun Short-open the strike of the motor gun in which

Setting error the alarm occurred

(2)If the alarm occurs again, check the wiring of
phase-U, -V, and -W is correct.
5.0.143 WRONG MOTOR ROTATION
Sub
Code
The encoder line
386 E1102000106GB02
DX100 controller
5.0.144 SERVO TRACKING ERROR
Sub
Code
Sub Code: Signifies the Interference Remove the interference of robot.

axis in which the alarm error
occurred


board to be safe.

amplifier.


(2)If the alarm occurs again, check the wiring of
phase-U, -V, and -W is correct.

5.0.145 POSITION ERROR
Sub
Code
Noise error Eliminate the noise or take a countermeasure

against the noise.
E1102000106GB02 387
DX100 controller
Sub
Code

[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536
XEI01 board 1)Turn the power OFF then back ON.

XEI01 board
COV03 board 1)Turn the power OFF then back ON.

COV03 board

board to be safe.

following cables.
Cable between the EAXB01 board and XEI01
board
5.0.146 BROKEN SPEED MONITOR LINE
Sub
Code

Speed monitor unit
388 E1102000106GB02
DX100 controller
5.0.147 SPEED MONITOR LEVEL ERROR
Sub
Code

board to be safe.
5.0.148 POSITION ERROR (SERIAL ENCODER)
Sub
Code
Noise error Eliminate the noise or take a countermeasure

against the noise.

[Robot axis]
EAXA-CN508
[External axis]
EAXB-CN0534,535,536

board to be safe.
E1102000106GB02 389
DX100 controller
5.0.149 OVERVOLTAGE (CONVERTER)
Sub
Code
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

The load mounted on the robot
Voltage failure Modify the primary voltage of the main power

switch to the specified voltage 440V (+10% to
15%).
Module Replace the regenerative resistor.

failure(Regenera
tive
resistor)

SERVOPACK.

board to be safe.
Overloading Check that the load does not exceed the

allowable limit.
390 E1102000106GB02
DX100 controller
5.0.150 GROUND FAULT
Sub
Code
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

following cables.
robot cable
Supply cable


board to be safe.

(contactor) the power OFF then back ON.)
contactor.
Module failure Check if there is no ground fault in the

(Regenerative regeneration resistors.
resistor)
E1102000106GB02 391
DX100 controller
5.0.151 OPEN PHASE (CONVERTER)
Sub
Code
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

15%).

contactor.

SERVOPACK.

board to be safe.
5.0.152 OVER CURRENT (AMP)
Sub
Code
EAXA-CN501 to 506,CN510
EAXB-CN531,532,533
Amplifier-CN581,582
392 E1102000106GB02
DX100 controller
Sub
Code

following cables.
robot cable
Supply cable

amplifier.


board to be safe.
5.0.153 REGENERATIVE TROUBLE (CONVERTER)
Sub
Code
EAXA01 board
EAXB01 board
Converter-CN557
Cable between the regenerative resistors
Module failure Replace the regenerative resistor.

(Regenerative
resistor)

SERVOPACK.

board to be safe.
E1102000106GB02 393
DX100 controller
Sub
Code

allowable limit.
5.0.154 INPUT POWER OVER VOLTAGE (CONV)
Sub
Code
Sub Code: Signifies the Voltage failure Modify the primary voltage of the main power
physical No. of switch to the specified voltage 440V (+10% to
converter in which the 15%).
alarm occurred

EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.
5.0.155 TEMPERATURE ERROR (CONVERTER)
Sub
Code
Sub Code: Signifies the Voltage failure Modify the primary voltage of the main power
physical No. of switch to the specified voltage 440V (+10% to
converter in which the 15%).
alarm occurred
394 E1102000106GB02
DX100 controller
Sub
Code

EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.
High ambient Adjust the ambient temperature to 40C or less.

temperature
Install failure Check that the air inlet or outlet is not blocked.
5.0.156 LINEAR SERVOFLOAT TRACKING ERROR
Sub
Code
Setting error Check the settings for jobs.
5.0.157 LNK SERVOFLOAT EXECUTE ERROR
Sub
Code
E1102000106GB02 395
DX100 controller
5.0.158 LNK SERVOFLOAT TRQ LIMIT ERROR
Sub
Code
Setting error Check the limit torque of the link servo float
condition file.
5.0.159 LNR SERVOFLOAT TRQ LIMIT ERROR
Sub
Code
Setting error Check the limit torque of the link servo float
condition file.
5.0.160 LNR SERVOFLOAT COORD TYPE ERROR
Sub
Code
Setting error Check the setting file of the job and the linear
servo float.
5.0.161 LNR SERVOFLOAT TOOL POSE ERROR
Sub
Code
Setting error Check the setting file of the job and the linear
servo float.
396 E1102000106GB02
DX100 controller
5.0.162 LNR SERVOFLOAT EXECUTE ERROR
Sub
Code
5.0.163 DRIVE BELT SNAP DETECT
Sub
Code
Sub Code: Signifies the Connection Check that the driving belt is not broken.
axis in which the alarm failure
occurred
Driving belt Check the driving belt.

failure
5.0.164 TWIN DRIVE OVER DEVIATION
Sub
Code
Setting error Check the load settings.
5.0.165 DEFECTIVE TAUGHT POINT(ENDLESS)
Sub
Code
axis in which the alarm Setting of the command soft (JOB)
occurred MRESET instruction to corresponding axis
E1102000106GB02 397
DX100 controller
Sub
Code

board to be safe.
5.0.166 FILE NO. ERROR (SHOCK LEVEL)
Sub
Code
Sub Code: File number Setting error Do not use the collision detection file for
exclusive use for the SVSPOT with the
SHCKSET instruction.
5.0.167 EXTERNAL PRES DETECT (SERVOFLOAT)
Sub
Code
5.0.168 ARM CTRL PARAMETER ERR(OBSERVER)
Sub
Code
398 E1102000106GB02
DX100 controller
5.0.169 IMPOSSIBLE SRCH (EQUALIZE TEACH)
Sub
Code
5.0.170 DUPLICATED PRESS ERROR
Sub
Code
Setting error End the current pressuring operation, and then

execute the pressuring instruction.
5.0.171 CONVERTER ERROR
Sub
Code
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.
E1102000106GB02 399
DX100 controller
5.0.172 WAFER ALIGNMENT ERROR(SERVO)
Sub
Code
Connection Check the connection of prealigner.

failure
5.0.173 POWER SUPPLY READY ERROR(SERVO)
Sub
Code

EAXB-CN531,532,533
Amplifier-CN581,582

board to be safe.

400 E1102000106GB02
DX100 controller
5.0.174 BASE BLOCK SIGNAL ERROR(SERVO)
Sub
Code

EAXB-CN531,532,533
Amplifier-CN581,582

board to be safe.

5.0.175 GUN SOFTLIMIT
Sub
Code
axis in which the alarm Home position of gun axis
occurred
[Released side]
Reset the software limit of released side gun.
(Parameter S1CxG200 or 208)
[Closed side]
Reset the software limit at the gun closed side.
Add the moving amount of electrode wear.
(Parameter S1CxG200 or 208)
E1102000106GB02 401
DX100 controller
5.0.176 TOUCH DETECT DATA OVER
Sub
Code

Home position of gun axis
"The motion limit for which the fixed (movable)
gun electrode hits the welded target" in the gun
condition file
"The pulse-stroke converter" in the gun
condition file.
5.0.177 GUN BEND COMPENSATION SET ERROR
Sub
Code
Sub Code: Signifies the Setting error Check if this model is supported.
group in which the alarm
occurred
5.0.178 ROBOT POSE ERROR
Sub
Code
5.0.179 SYSTEM ERROR (SERVO)
Sub
Code
Setting error Check if the brake unit supports independent

brake control.
402 E1102000106GB02
DX100 controller
5.0.180 SERVO ON SIGNAL ERROR
Sub
Code
Connection Check the connections between TU board and

failure EAXA board.
Replace the TU board.
5.0.181 MAGNETIC POLE DETECTING ERROR
Sub
Code

(2)If the alarm occurs again, replace the linear
encoder.
5.0.182 PHASE DATA UNMATCH
Sub
Code

(2)If the alarm occurs again, replace the linear
encoder.
5.0.183 M-SAFETY PROCESS ERROR(CPU1)
Sub
Code
YSU unit failure (1)Reset the alarm.

(2)If the alarm occurs again, replace the YSU
E1102000106GB02 403
DX100 controller
5.0.184 M-SAFETY ENABLE SW ERROR(CPU1)
Sub
Code
1 Inconsistency of enable Enable signal (1)Reset the alarm.

signal was detected for unmatched error (2)Check the followings.
a certain time period in There are two point of contact enable switch,
the programming and only one might be turned on by how to
pendant. squeeze. Moreover, only one might be turned
on when putting it on the place where it is not a
plane on the knee etc. Check how to squeeze or
put the programming pendant on flat.

followings.
Confirmation of wiring for pin numbers A3, A4,
B3, and B4 of YSU unit (CN209 connector) and
connector of programming pendant
Hardware failure (1)Reset the alarm.

(2)If the alarm occurs again after confirming the
connection, execute the following contents.
Save the CMOS.BIN before replacing the YSU
unit to be safe.
Replacement of programming pendant
Replacement of YSU unit
5.0.185 M-SAFETY PROCESS ERROR(CPU2)
Sub
Code

(2)If the alarm occurs again, replace the YSU
404 E1102000106GB02
DX100 controller
5.0.186 M-SAFETY ENABLE SW ERROR(CPU2)
Sub
Code
1 Inconsistency of enable Enable signal (1)Reset the alarm.

signal was detected for unmatched error (2)Check the followings.
a certain time period in There are two point of contact enable switch,
the programming and only one might be turned on by how to
pendant. squeeze. Moreover, only one might be turned
on when putting it on the place where it is not a
plane on the knee etc. Check how to squeeze or
put the programming pendant on flat.

followings.
Confirmation of wiring for pin numbers A3, A4,

unit to be safe.
5.0.187 M-SAFETY SIGNAL ERROR(CPU1)
Sub
Code
0 CPU1 detected an Connection (1)Reset the alarm.

inconsistency of failure (2)If the alarm occurs again, check the
emergency stop signal followings.
in the programming Confirmation of wiring for pin numbers A3, A4,
pendant. B3, and B4 of YSU unit (CN209 connector) and
E1102000106GB02 405
DX100 controller
Sub
Code

unit to be safe.
Replacement of the emergency stop button on
the programming pendant and the cable that
connects to the YSU unit

in robot controller. Confirmation of wiring for pin numbers A1, A2,
emergency stop SW of robot controller

unit to be safe.
the robot controller
the robot controller and the cable that connects
to the YSU unit

external emergency followings.
stop signal. Wiring confirmation of YSU unit (CN216
connector) and pin numbers 19, 20, 21, and 22
of MXT terminal block

external enable switch followings.
signal. Wiring confirmation of YSU unit (CN216

safeguarding signal. followings.
Wiring confirmation of YSU unit (CN216
connector) and pin numbers 9, 10, 11, and 12 of
MXT terminal block
406 E1102000106GB02
DX100 controller
Sub
Code

inconsistency of full failure (2)If the alarm occurs again, check the
speed test signal. followings.

inconsistency of overrun failure (2)If the alarm occurs again, check the
1 signal. followings.
Wiring confirmation of pin numbers 1, 2, 3, and
4 of YSU unit (CN203 connector)

universal input zero followings.
MXT terminal block

universal input 1 signal. followings.
MXT terminal block

inconsistency of mode failure (2)If the alarm occurs again, check the
zero signal in the followings.
programming pendant. Connected confirmation of wiring for pin
numbers B6 of YSU unit (CN209 connector) and
programming pendant

unit to be safe.

inconsistency of mode 1 failure (2)If the alarm occurs again, check the
signal in the followings.
numbers A6 of YSU unit (CN209 connector) and
programming pendant

unit to be safe.
E1102000106GB02 407
DX100 controller
Sub
Code
16 CPU1 detected an YSU unit failure (1)Reset the alarm.

inconsistency of servo (2)If the alarm occurs again, replace the YSU
ON 1 signal (SFRDY1). unit. Save the CMOS.BIN before replacing the

contactor 1 signal followings.
(KMMB1). Connected confirmation of wiring for pin
numbers A5, A6, B5, and B6 of YSU unit
(CN214 connector) and contactor 1
Contactor failure (1)Reset the alarm.

Replacement the connected contactor or relay
that drives contactor
YSU Unit or (1)Reset the alarm.

connection cable (2)If the alarm occurs again after replacement
failure the contactor or relay that drives contactor,
execute the following contents. Save the
CMOS.BIN before replacing the YSU unit to be
safe.
Replacement of connection cable


(KMMB2). Wiring confirmation of pin numbers A5, A6, B5,
and B6 of YSU unit (CN213 connector)


safe.

408 E1102000106GB02
DX100 controller
Sub
Code

(KMMB3). Wiring confirmation of pin numbers 5, 6, 7, and


safe.


(KMMB4). Wiring confirmation of pin numbers 27, 28, 29,
and 30 of YSU unit (CN215 connector)


safe.

contactor 1 enable followings.
signal. Wiring confirmation of pin numbers 1, 2, 3, and

E1102000106GB02 409
DX100 controller
Sub
Code

external overrun 2 followings.
signal. Wiring confirmation of pin numbers 9, 10, 11,





inconsistency of fun failure (2)If the alarm occurs again, check the
alarm 1 signal. followings.
Wiring confirmation of pin numbers A1 and B1
of YSU unit (CN212 connector)



inconsistency of link failure (2)If the alarm occurs again, check the
signal between YSU followings.
unit. Wiring confirmation of pin numbers 6, 8, 31,
and 33 of YSU unit (CN205 connector) and pin
numbers 5, 7, 30, and 32 of YSU unit (CN206
connector)
410 E1102000106GB02
DX100 controller
Sub
Code

connection cable (2)If the alarm occurs again after confirming the
failure wiring, execute the following contents. Save the
safe.

feedback signal followings.
between YSU unit. Wiring confirmation of pin numbers 6, 8, 31,
connector)

safe.

inconsistency of enable failure (2)If the alarm occurs again, check the
switch signal between followings.
YSU unit. Wiring confirmation of pin numbers 12, 14, 37,
connector)

safe.

switch feedback signal followings.
connector)

safe.
E1102000106GB02 411
DX100 controller
Sub
Code

inconsistency of speed failure (2)If the alarm occurs again, execute the
mode zero signal following contents.
connector)

safe.

mode zero feedback following contents.
signal between YSU Wiring confirmation of pin numbers 17, 19, 42,
unit. and 44 of YSU unit (CN205 connector) and pin
connector)

safe.

mode 1 signal between following contents.
connector)

safe.

mode 1 feedback signal following contents.
connector)
412 E1102000106GB02
DX100 controller
Sub
Code

safe.

inconsistency of error failure (2)If the alarm occurs again, check the
unit. Connection confirmation of pin No. 1, 2, 14 and
15 wiring of YSU unit and YSU unit

failure connection, execute the following contents.
unit to be safe.

feedback ready signal followings.
between YSU unit. Connected confirmation of wiring for pin
connector) and YSU unit

unit to be safe.

inconsistency of speed failure (2)If the alarm occurs again, check the
mode zero feedback followings.
signal between YSU Connected confirmation of wiring for pin
unit. numbers 8, 9, 21, and 22 of YSU unit (CN207
connector) and function safety unit

unit to be safe.

inconsistency of speed (2)If the alarm occurs again, replace the YSU
mode zero feedback unit. Save the CMOS.BIN before replacing the
ready signal between YSU unit to be safe.
function safety unit.
E1102000106GB02 413
DX100 controller
Sub
Code

mode 1 feedback signal followings.
between function safety Connected confirmation of wiring for pin

unit to be safe.

mode 1 feedback ready unit. Save the CMOS.BIN before replacing the
signal between function YSU unit to be safe.
safety unit.

inconsistency of (2)If the alarm occurs again, replace the YSU
universal output ready unit. Save the CMOS.BIN before replacing the
signal. YSU unit to be safe.

universal output followings.
feedback signal. Wiring confirmation of YSU unit (CN216

inconsistency of brake failure (2)If the alarm occurs again, check the
release signal in the followings.
EAXA board. Wiring confirmation of pin numbers A3, A5, B3,
Unit or (1)Reset the alarm.

unit to be safe.
Replacement of EAXA board
414 E1102000106GB02
DX100 controller
5.0.188 M-SAFETY INPUT CHECK ERROR(CPU1)
Sub
Code
0 CPU1 detected an error YSU unit failure (1)Reset the alarm.

in the programming (2)If the alarm occurs again, replace the YSU
pendant by the self- unit. Save the CMOS.BIN before replacing the
diagnostic check. YSU unit to be safe.

of enable switch signal (2)If the alarm occurs again, replace the YSU
in the programming unit. Save the CMOS.BIN before replacing the
pendant by the self- YSU unit to be safe.
diagnostic check.

of emergency stop (2)If the alarm occurs again, replace the YSU
signal in robot controller unit. Save the CMOS.BIN before replacing the
by the self-diagnostic YSU unit to be safe.
check.

of external emergency (2)If the alarm occurs again, replace the YSU
stop signal by the self- unit. Save the CMOS.BIN before replacing the

of external enable (2)If the alarm occurs again, replace the YSU
switch signal by the self- unit. Save the CMOS.BIN before replacing the

of safeguarding signal (2)If the alarm occurs again, replace the YSU
by the self-diagnostic unit. Save the CMOS.BIN before replacing the
check. YSU unit to be safe.

of full speed test signal (2)If the alarm occurs again, replace the YSU

of overrun signal by the (2)If the alarm occurs again, replace the YSU
self-diagnostic check. unit. Save the CMOS.BIN before replacing the

of universal input zero (2)If the alarm occurs again, replace the YSU
signal by the self- unit. Save the CMOS.BIN before replacing the

of universal input 1 (2)If the alarm occurs again, replace the YSU
E1102000106GB02 415
DX100 controller
Sub
Code

of contactor 1 enable (2)If the alarm occurs again, replace the YSU


of external overrun 2 (2)If the alarm occurs again, replace the YSU





of link signal between (2)If the alarm occurs again, replace the YSU
YSU unit by the self- unit. Save the CMOS.BIN before replacing the

between YSU unit by unit. Save the CMOS.BIN before replacing the
the self-diagnostic YSU unit to be safe.
check.

of speed mode zero (2)If the alarm occurs again, replace the YSU
signal between YSU unit. Save the CMOS.BIN before replacing the
unit by the self- YSU unit to be safe.
diagnostic check.

of speed mode 1 signal (2)If the alarm occurs again, replace the YSU
check.
416 E1102000106GB02
DX100 controller
Sub
Code

of error signal between (2)If the alarm occurs again, replace the YSU
function safety unit by unit. Save the CMOS.BIN before replacing the
check.

feedback ready signal unit. Save the CMOS.BIN before replacing the
between function safety YSU unit to be safe.
unit by the self-
diagnostic check.

of speed mode 1 (2)If the alarm occurs again, replace the YSU
unit by the self-
diagnostic check.
5.0.189 M-SAFETY OUTPUT CHECK ERROR CPU1
Sub
Code
49 CPU1 detected no Connection (1)Reset the alarm.

change of the feedback failure (2)If the alarm occurs again, check the
signal within a certain followings.
time period in link signal Connector connection confirmation of YSU unit
between YSU units. (CN205/CN206)
Rotary switch (1)Reset the alarm.

setting error (2)If the alarm occurs again after confirming the
Set rotary switch (S1) settings of the master
control YSU unit to "1"; set rotary switch (S1)
settings of slave control YSU unit to "2".

rotary switch(S1), replace the YSU unit. Save
the CMOS.BIN before replacing the YSU unit to
be safe.

time period in enable Connector connection confirmation of YSU unit
switch signal between (CN205/CN206)
YSU units.
E1102000106GB02 417
DX100 controller
Sub
Code


confirming the rotary switch, replace the YSU

time period in speed Connector connection confirmation of YSU unit
mode zero signal (CN205/CN206)
between YSU units.


(2If the alarm occurs again after confirming the

mode 1 signal between (CN205/CN206)
YSU units.



time period in category Connector connection confirmation of YSU unit
1 stop signal between (CN205/CN206)
YSU units.
418 E1102000106GB02
DX100 controller
Sub
Code


5.0.190 M-SAFETY CONTACTOR STICK(CPU1)(2)
Sub
Code
1 CPU1 detected Connection (1)Reset the alarm.

feedback value (KMMB) failure (2)If the alarm occurs again, execute the
did not turn ON/OFF following contents.
within a certain time Connection confirmation between YSU unit
period from contactor 1 (CN214 connector) and the contactor
SERVO ON/OFF, or
CPU1 detected poor
connection between
YSU unit and contactor.


(2)If the alarm occurs again after replacement
the contactor or relay that drives contactor,
replace the YSU unit. Save the CMOS.BIN
before replacing the YSU unit to be safe.

feedback value (KMMB) failure (2)If the alarm occurs again, check the
did not turn ON/OFF followings.
within a certain time Connected confirmation of YSU unit (CN213
period from contactor 2 connector) and contactor
SERVO ON/OFF, or
CPU1 detected poor
connection between
E1102000106GB02 419
DX100 controller
Sub
Code



SERVO ON/OFF, or
CPU1 detected poor
connection between



SERVO ON/OFF, or
CPU1 detected poor
connection between


420 E1102000106GB02
DX100 controller
5.0.191 M-SAFETY SERVO ON ERROR(CPU1)
Sub
Code
1 CPU1 detected YSU unit failure (1)Reset the alarm.

feedback value (2)If the alarm occurs again, replace the YSU
(SFRDY) did not turn unit. Save the CMOS.BIN before replacing the
ON/OFF within a certain YSU unit to be safe.
time period from
contactor 1 SERVO ON/
OFF.

time period from
OFF.

time period from
OFF.

time period from
OFF.
5.0.192 M-SAFETY SIGNAL ERR(CPU2)
Sub
Code

in the programming Confirmation of wiring for pin numbers A3, A4,
pendant. B3, and B4 of YSU unit (CN209 connector) and
E1102000106GB02 421
DX100 controller
Sub
Code

unit to be safe.
the programming pendant and the cable that
connects to the YSU unit

in robot controller. Confirmation of wiring for pin numbers A1, A2,
emergency stop SW of robot controller

unit to be safe.
the robot controller
the robot controller and the cable that connects
to the YSU unit

external emergency followings.
stop signal. Wiring confirmation of YSU unit (CN216

external enable switch followings.

safeguarding signal. followings.
MXT terminal block
422 E1102000106GB02
DX100 controller
Sub
Code

inconsistency of full failure (2)If the alarm occurs again, check the
speed test signal. followings.

inconsistency of overrun failure (2)If the alarm occurs again, check the
1 signal. followings.
Wiring confirmation of pin numbers 1, 2, 3, and

universal input zero followings.
MXT terminal block

universal input 1 signal. followings.
MXT terminal block

inconsistency of mode failure (2)If the alarm occurs again, check the
zero signal in the followings.
numbers B6 of YSU unit (CN209 connector) and
programming pendant

unit to be safe.

inconsistency of mode 1 failure (2)If the alarm occurs again, check the
signal in the followings.
numbers A6 of YSU unit (CN209 connector) and
programming pendant
YSU unit or (1)Reset the alarm.

unit to be safe.
E1102000106GB02 423
DX100 controller
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(KMMB1). Connected confirmation of wiring for pin
numbers A5, A6, B5, and B6 of YSU unit
(CN214 connector) and contactor 1


safe.


(KMMB2). Wiring confirmation of pin numbers A5, A6, B5,


safe.

424 E1102000106GB02
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(KMMB3). Wiring confirmation of pin numbers 5, 6, 7, and


safe.


(KMMB4). Wiring confirmation of pin numbers 27, 28, 29,


safe.


E1102000106GB02 425
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unit. Wiring confirmation of pin numbers 6, 8, 31,
connector)
426 E1102000106GB02
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Code

safe.

feedback signal followings.
connector)

safe.

switch signal between followings.
connector)

safe.

switch feedback signal followings.
connector)

safe.
E1102000106GB02 427
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safe.

signal between YSU Wiring confirmation of pin numbers 17, 19, 42,
unit. and 44 of YSU unit (CN205 connector) and pin
connector)

safe.

mode 1 signal between following contents.
connector)

safe.

connector)

safe.
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unit. Connection confirmation of pin No. 1, 2, 14 and
15 wiring of YSU unit and YSU unit

unit to be safe.
replacement of connection cable

feedback ready signal followings.
between YSU unit. Connected confirmation of wiring for pin
connector) and YSU unit

unit to be safe.

signal between YSU Connected confirmation of wiring for pin

unit to be safe.

mode zero feedback unit. Save the CMOS.BIN before replacing the
ready signal between YSU unit to be safe.
YSU unit.

between function safety Connected confirmation of wiring for pin
E1102000106GB02 429
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Code

unit to be safe.

mode 1 feedback ready unit. Save the CMOS.BIN before replacing the
signal between function YSU unit to be safe.
safety unit.

inconsistency of (2)If the alarm occurs again, replace the YSU
universal output ready unit. Save the CMOS.BIN before replacing the
signal. YSU unit to be safe.

universal output followings.
feedback signal. Wiring confirmation of YSU unit (CN216

inconsistency of brake failure (2)If the alarm occurs again, check the
release signal in the followings.
EAXA board. Wiring confirmation of pin numbers A3, A5, B3,
Unit or (1)Reset the alarm.

unit to be safe.
Replacement of EAXA board
5.0.193 M-SAFETY INPUT CHECK ERROR(CPU2)
Sub
Code

of emergency stop (2)If the alarm occurs again after confirming the
signal in the confirming the rotary switch, replace the YSU
programming pendant unit. Save the CMOS.BIN before replacing the
check.
430 E1102000106GB02
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in the programming unit. Save the CMOS.BIN before replacing the
pendant by the self- YSU unit to be safe.
diagnostic check.

of emergency stop (2)If the alarm occurs again, replace the YSU
signal in robot controller unit. Save the CMOS.BIN before replacing the
check.

of external emergency (2)If the alarm occurs again, replace the YSU
stop signal by the self- unit. Save the CMOS.BIN before replacing the

of external enable (2)If the alarm occurs again, replace the YSU
switch signal by the self- unit. Save the CMOS.BIN before replacing the

of safeguarding signal (2)If the alarm occurs again, replace the YSU

of full speed test signal (2)If the alarm occurs again, replace the YSU

of overrun signal by the (2)If the alarm occurs again, replace the YSU
self-diagnostic check. unit. Save the CMOS.BIN before replacing the

of universal input zero (2)If the alarm occurs again, replace the YSU

of universal input 1 (2)If the alarm occurs again, replace the YSU



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of link signal between (2)If the alarm occurs again, replace the YSU
YSU unit by the self- unit. Save the CMOS.BIN before replacing the

check.

signal between YSU unit. Save the CMOS.BIN before replacing the
unit by the self- YSU unit to be safe.
diagnostic check.

of speed mode 1 signal (2)If the alarm occurs again, replace the YSU
check.

of error signal between (2)If the alarm occurs again, replace the YSU
function safety unit by unit. Save the CMOS.BIN before replacing the
check.

unit by the self-
diagnostic check.
432 E1102000106GB02
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of speed mode 1 (2)If the alarm occurs again, replace the YSU
unit by the self-
diagnostic check.
5.0.194 M-SAFETY OUTPUT CHECK ERROR CPU2
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Code

time period in link signal Connector connection confirmation of YSU unit
between YSU units. (CN205/CN206)



time period in enable Connector connection confirmation of YSU unit
switch signal between (CN205/CN206)
YSU units.


E1102000106GB02 433
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mode zero signal (CN205/CN206)
between YSU units.



mode 1 signal between (CN205/CN206)
YSU units.



time period in category Connector connection confirmation of YSU unit
1 stop signal between (CN205/CN206)
YSU units.


434 E1102000106GB02
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5.0.195 M-SAFETY CONTACTOR STICK(CPU2)
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Code

feedback value (KMMB) failure (2)If the alarm occurs again, execute the
did not turn ON/OFF following contents.
within a certain time Connection confirmation between YSU unit
period from contactor 1 (CN214 connector) and the contactor
SERVO ON/OFF, or
CPU2 detected poor
connection between



SERVO ON/OFF, or
CPU2 detected poor
connection between



SERVO ON/OFF, or
CPU2 detected poor
connection between
E1102000106GB02 435
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SERVO ON/OFF, or
CPU2 detected poor
connection between


5.0.196 M-SAFETY SERVO ON ERROR(CPU2)
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Code

time period from
OFF.
436 E1102000106GB02
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time period from
OFF.

time period from
OFF.

time period from
OFF.
5.0.197 NOT READY (ARITH)
Sub
Code
1 The arithmetic process Software (1)Reset the alarm, and then try again.
for motion control did operation error (2)If the alarm occurs again, save the
not complete within occurred CMOS.BIN in maintenance mode, and then
regulated time. No contact your MOTOMAN representative about
motion command was occurrence status (operating procedure).
prepared.
2 The arithmetic Software (1)Reset the alarm, and then try again.
processing section is operation error (2)If the alarm occurs again, save the
not ready for JOG occurred CMOS.BIN in maintenance mode, and then
operation. contact your MOTOMAN representative about
not ready for the occurred CMOS.BIN in maintenance mode, and then
playback operation. contact your MOTOMAN representative about
4 The prereading Software (1)Reset the alarm, and then try again.
processing in the operation error (2)If the alarm occurs again, save the
arithmetic processing occurred CMOS.BIN in maintenance mode, and then
section has not contact your MOTOMAN representative about
completed. occurrence status (operating procedure).
E1102000106GB02 437
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Code
not ready for the timer occurred CMOS.BIN in maintenance mode, and then
follow-up of the contact your MOTOMAN representative about
conveyor tracking occurrence status (operating procedure).
function.
processing in the operation error (2)If the alarm occurs again, save the
arithmetic processing occurred CMOS.BIN in maintenance mode, and then
section has not contact your MOTOMAN representative about
completed when occurrence status (operating procedure).
specifying the target
position.
5.0.198 SEQUENCE TASK CONTR ERROR
Sub
Code
1 Unused A_BANK does Software (1)Reset the alarm, and then try again.
not exist in the operation error (2)If the alarm occurs again, save the
prereading processing occurred CMOS.BIN in maintenance mode, and then
of move instruction. contact your MOTOMAN representative about
2 Unused bank priority Software (1)Reset the alarm, and then try again.
does not exist in the operation error (2)If the alarm occurs again, save the
prereading processing occurred CMOS.BIN in maintenance mode, and then
of move instruction. contact your MOTOMAN representative about
5 A_BANK pointer is not Software (1)Reset the alarm, and then try again.
set. operation error (2)If the alarm occurs again, save the
6 A_BANK conversion Software (1)Reset the alarm, and then try again.
could not be performed. operation error (2)If the alarm occurs again, save the
7 The specified A_BANK Software (1)Reset the alarm, and then try again.
number does not exist. operation error (2)If the alarm occurs again, save the
438 E1102000106GB02
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Code
20 An error occurred when Software (1)Reset the alarm, and then try again.
system number (MSS) operation error (2)If the alarm occurs again, save the
was obtained. occurred CMOS.BIN in maintenance mode, and then
RMS960 system call. operation error (2)If the alarm occurs again, save the
22 Undefined interrupt Software (1)Reset the alarm, and then try again.
command was received. operation error (2)If the alarm occurs again, save the
23 Job start condition is not Software (1)Reset the alarm, and then try again.
defined. operation error (2)If the alarm occurs again, save the
instruction prefetch operation error (2)If the alarm occurs again, save the
queue operation. occurred CMOS.BIN in maintenance mode, and then
26 Intermediate code is not Software (1)Reset the alarm, and then try again.
29 Instruction prereading Software (1)Reset the alarm, and then try again.
processing has not operation error (2)If the alarm occurs again, save the
been completed occurred CMOS.BIN in maintenance mode, and then
normally. contact your MOTOMAN representative about
30 An error occurred in job Software (1)Reset the alarm, and then try again.
data change. operation error (2)If the alarm occurs again, save the
31 The specified sequence Software (1)Reset the alarm, and then try again.
number at job execution operation error (2)If the alarm occurs again, save the
start is incorrect. occurred CMOS.BIN in maintenance mode, and then
32 The added area for Software (1)Reset the alarm, and then try again.
interruption command is operation error (2)If the alarm occurs again, save the
E1102000106GB02 439
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Code
33 System number (MSS) Software (1)Reset the alarm, and then try again.
for interruption operation error (2)If the alarm occurs again, save the
command is incorrect. occurred CMOS.BIN in maintenance mode, and then
38 An error occurred at Software (1)Reset the alarm, and then try again.
start of twin operation error (2)If the alarm occurs again, save the
synchronous operation. occurred CMOS.BIN in maintenance mode, and then
SYNC specification was operation error (2)If the alarm occurs again, save the
reset. occurred CMOS.BIN in maintenance mode, and then
occupation control operation error (2)If the alarm occurs again, save the
group setting in occurred CMOS.BIN in maintenance mode, and then
MOTION section. contact your MOTOMAN representative about
path/trace control. operation error (2)If the alarm occurs again, save the
waiting for a completion operation error (2)If the alarm occurs again, save the
of main system task occurred CMOS.BIN in maintenance mode, and then
(job) in SYNC contact your MOTOMAN representative about
specification. occurrence status (operating procedure).
48 An attempt was made to Software (1)Reset the alarm, and then try again.
execute an instruction operation error (2)If the alarm occurs again, save the
that could not be occurred CMOS.BIN in maintenance mode, and then
executed at line contact your MOTOMAN representative about
sequence execution. occurrence status (operating procedure).
Software (1)Reset the alarm, and then try again.

80 An exceptional error Software (1)Reset the alarm, and then try again.
occurred in job operation error (2)If the alarm occurs again, save the
execution process. occurred CMOS.BIN in maintenance mode, and then
100 Main processing Software (1)Reset the alarm, and then try again.
command is incorrect in operation error (2)If the alarm occurs again, save the
prereading processing. occurred CMOS.BIN in maintenance mode, and then
440 E1102000106GB02
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101 Subprocessing Software (1)Reset the alarm, and then try again.
command is incorrect in operation error (2)If the alarm occurs again, save the
102 Prereading processing Software (1)Reset the alarm, and then try again.
has not been completed operation error (2)If the alarm occurs again, save the
at job execution. occurred CMOS.BIN in maintenance mode, and then
has not been operation error (2)If the alarm occurs again, save the
completed. occurred CMOS.BIN in maintenance mode, and then
104 System number (MSS) Software (1)Reset the alarm, and then try again.
is incorrect in operation error (2)If the alarm occurs again, save the
instruction prefetch operation error (2)If the alarm occurs again, save the
queue operation in occurred CMOS.BIN in maintenance mode, and then
prereading processing. contact your MOTOMAN representative about
106 An error occurred at IES Software (1)Reset the alarm, and then try again.
switching in prereading operation error (2)If the alarm occurs again, save the
processing. occurred CMOS.BIN in maintenance mode, and then
5.0.199 UNDEFINED COMMAND (ARITH)
Sub
Code

E1102000106GB02 441
DX100 controller
5.0.200 ARITHMETIC ERROR
Sub
Code
8 Interpolation such as Setting error (1)Check the following settings.

linear and circular Change the step (move instruction), where the
interpolation cannot be alarm occurred, to MOVJ.
performed with this
robot.
10 The setting of the form Setting error (1)Check the following settings.
data for Flip/No Flip is Set "1" to "S2C658: Type data detail settings".
not "B-axis Angle. "

pass the B-axis zero Check the teaching position of the job so that
degree position the robot does not pass the B-axis zero degree
(singular area). position (singular area).
5.0.201 GROUP AXIS CONTROL ERROR
Sub
Code
1 Designation error for Software (1)Reset the alarm, and then try again.
master and slave operation error (2)If the alarm occurs again, save the
2 Slave designation error Software (1)Reset the alarm, and then try again.
3 Slave interpolation error Software (1)Reset the alarm, and then try again.
4 No designation of Software (1)Reset the alarm, and then try again.

master axis operation error (2)If the alarm occurs again, save the
442 E1102000106GB02
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Code
6 Master-axis designation Software (1)Reset the alarm, and then try again.
error for JOG motion operation error (2)If the alarm occurs again, save the
7 Slave-axis designation Software (1)Reset the alarm, and then try again.
error for JOG motion operation error (2)If the alarm occurs again, save the
8 Occupation control error Software (1)Reset the alarm, and then try again.
occupation control for operation error (2)If the alarm occurs again, save the
JOG motion occurred CMOS.BIN in maintenance mode, and then
occupation control for operation error (2)If the alarm occurs again, save the
Bank position occurred CMOS.BIN in maintenance mode, and then
occupation control operation error (2)If the alarm occurs again, save the
group for tracking occurred CMOS.BIN in maintenance mode, and then
motion contact your MOTOMAN representative about
12 No master and slave Software (1)Reset the alarm, and then try again.
designated for tracking operation error (2)If the alarm occurs again, save the
motion occurred CMOS.BIN in maintenance mode, and then
5.0.202 TWO STEPS SAME POSITION (CIRC)
Sub
Code

Check the settings for teaching position of
circular interpolation steps so that each point is
different.
E1102000106GB02 443
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5.0.203 TWO STEPS SAME POSITION (SPLINE)
Sub
Code

Check the settings for teaching position of
spline interpolation step so that each point is
different.
5.0.204 TWO STEPS SAME POSITION (3 STEPS)
Sub
Code

Check the settings for three taught points to
create an user coordinate system so that each
point is different.
5.0.205 TWO STEPS SAME POSITION (WEAV)
Sub
Code

Check the settings for taught points (start, end,
and reference points) so that each point is
different.
444 E1102000106GB02
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5.0.206 TEACH ERROR (SPLINE)
Sub
Code

Check the settings for the teaching position of
spline interpolation section so that the distance
between the teaching points is even.
5.0.207 IMPOSSIBLE LINEAR MOTION(L/U)
Sub
Code

Perform the teaching again to make the form of
L- and U-axes same at start point and end point.
Use a MOVJ instruction again.
5.0.208 IMPOSSIBLE LINEAR MOTION(S/L)
Sub
Code

Perform the teaching position again to make
the form of S- and L-axes same at start point
and end point.
Use a MOVJ instruction again.
E1102000106GB02 445
DX100 controller
5.0.209 EXCESSIVE SEGMENT (LOW/HIGH)
Sub
Code
Sub Code: Control Setting error (1)Reduce the speed in the step where the
group and axis alarm occurred.
(2)Change the move instruction to joint
interpolation (MOVJ).
* Be careful to the peripheral interference since
its movement changes.
5.0.210 PULSE LIMIT (MIN./MAX.)
Sub
Code

group and axis Perform the teaching again to correct positions
for robots so that the step where the alarm
occurred is within the motion range.
5.0.211 CUBE LIMIT (MIN./MAX.)
Sub
Code

group and XYZ Perform the teaching again to correct positions
446 E1102000106GB02
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5.0.212 SPECIAL SOFTLIMIT (MIN./MAX.)
Sub
Code

5.0.213 MECHANICAL INTERFERENCE (MIN./MAX.)
Sub
Code

5.0.214 SPECIAL MECHANICAL INTRF (MIN./MAX.)
Sub
Code

5.0.215 PULSE MECHANICAL LIMIT(MIN./MAX.)
Sub
Code

E1102000106GB02 447
DX100 controller
5.0.216 SEGMENT CONTROL ERROR
Sub
Code
1 RT-buffer control Software (1)Reset the alarm, and then try again.
command error operation error (2)If the alarm occurs again, save the
2 Segment-receiving Software (1)Reset the alarm, and then try again.

control command error operation error (2)If the alarm occurs again, save the
3 No bank priority Software (1)Reset the alarm, and then try again.
4 Answer error at MOVE Software (1)Reset the alarm, and then try again.
simulating operation error (2)If the alarm occurs again, save the
5 The value of Software (1)Reset the alarm, and then try again.
bank_refresh_flag(x) operation error (2)If the alarm occurs again, save the
exceeded its limit. occurred CMOS.BIN in maintenance mode, and then
8 RT-buffer tracking Software (1)Reset the alarm, and then try again.
option error operation error (2)If the alarm occurs again, save the
9 The segment was Software (1)Reset the alarm, and then try again.
received although the operation error (2)If the alarm occurs again, save the
previous segment had occurred CMOS.BIN in maintenance mode, and then
not been sent. contact your MOTOMAN representative about
448 E1102000106GB02
DX100 controller
5.0.217 WRONG SPECIFIED CONTROL GROUP
Sub
Code
1 Control group not Software (1)Reset the alarm, and then try again.
designated operation error (2)If the alarm occurs again, save the
2 Slave control-group Software (1)Reset the alarm, and then try again.
3 Master control-group Software (1)Reset the alarm, and then try again.
4 Master and Slave Software (1)Reset the alarm, and then try again.
control-group error operation error (2)If the alarm occurs again, save the
5 Control-group error for a Software (1)Reset the alarm, and then try again.
job file operation error (2)If the alarm occurs again, save the
user coordinate file operation error (2)If the alarm occurs again, save the
calibration file between operation error (2)If the alarm occurs again, save the
robots occurred CMOS.BIN in maintenance mode, and then
tool calibration file operation error (2)If the alarm occurs again, save the
10 Control-group error for Software (1)Reset the alarm, and then try again.
prereading-calculation operation error (2)If the alarm occurs again, save the
start point (for occurred CMOS.BIN in maintenance mode, and then
adv_st_pos) contact your MOTOMAN representative about
E1102000106GB02 449
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Code
the current-value preset operation error (2)If the alarm occurs again, save the
position occurred CMOS.BIN in maintenance mode, and then
the conveyor operation error (2)If the alarm occurs again, save the
prereading-calculation occurred CMOS.BIN in maintenance mode, and then
start point contact your MOTOMAN representative about
13 Occupation control- Software (1)Reset the alarm, and then try again.
group error operation error (2)If the alarm occurs again, save the
servo hand operation error (2)If the alarm occurs again, save the
the prereading- operation error (2)If the alarm occurs again, save the
calculation start point occurred CMOS.BIN in maintenance mode, and then
(for dm_st_pos) contact your MOTOMAN representative about
prereading-calculation operation error (2)If the alarm occurs again, save the
start point (for occurred CMOS.BIN in maintenance mode, and then
dm_st_pos) contact your MOTOMAN representative about
5.0.218 CPU COMMUNICATION ERROR
Sub
Code
1 Interrupt processing Software (1)Reset the alarm, and then try again.
error between MOTION operation error (2)If the alarm occurs again, save the
section and system occurred CMOS.BIN in maintenance mode, and then
control section contact your MOTOMAN representative about
section and SL#1 occurred CMOS.BIN in maintenance mode, and then
450 E1102000106GB02
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Code
section and CV#1 occurred CMOS.BIN in maintenance mode, and then
section and CV#2 occurred CMOS.BIN in maintenance mode, and then
section and PS#1 occurred CMOS.BIN in maintenance mode, and then
section and PS#2 occurred CMOS.BIN in maintenance mode, and then
5.0.219 JHM ERROR
Sub
Code
JMS system call when operation error (2)If the alarm occurs again, save the
an attempt was made to occurred CMOS.BIN in maintenance mode, and then
open a job. contact your MOTOMAN representative about
E1102000106GB02 451
DX100 controller
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Code
2 No space was found in Software (1)Reset the alarm, and then try again.
job handle value operation error (2)If the alarm occurs again, save the
storage area when an occurred CMOS.BIN in maintenance mode, and then
attempt was made to contact your MOTOMAN representative about
open a job. occurrence status (operating procedure).
3 No job handle was Software (1)Reset the alarm, and then try again.
found. operation error (2)If the alarm occurs again, save the
4 Job control proprietary Software (1)Reset the alarm, and then try again.
is incorrect. operation error (2)If the alarm occurs again, save the
5 Job control proprietary Software (1)Reset the alarm, and then try again.
could not be changed. operation error (2)If the alarm occurs again, save the
5.0.220 INSTRUCTION INTERPRETER ERROR
Sub
Code
1 The intermediate code Software (1)Reset the alarm, and then try again.
of the instruction that is operation error (2)If the alarm occurs again, save the
to be executed is occurred CMOS.BIN in maintenance mode, and then
incorrect. contact your MOTOMAN representative about
3 Destination (variable) Software (1)Reset the alarm, and then try again.
tag arrangement is operation error (2)If the alarm occurs again, save the
4 Tag data type is Software (1)Reset the alarm, and then try again.
incorrect. operation error (2)If the alarm occurs again, save the
452 E1102000106GB02
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Code
5 Box number is incorrect. Software (1)Reset the alarm, and then try again.
block separation operation error (2)If the alarm occurs again, save the
processing of occurred CMOS.BIN in maintenance mode, and then
intermediate code. contact your MOTOMAN representative about
8 Box number definition is Software (1)Reset the alarm, and then try again.
duplicated. operation error (2)If the alarm occurs again, save the
9 Undefined instruction Software (1)Reset the alarm, and then try again.
was found at block operation error (2)If the alarm occurs again, save the
separation of occurred CMOS.BIN in maintenance mode, and then
intermediate code. contact your MOTOMAN representative about
10 IPRM is not set. Software (1)Reset the alarm, and then try again.
11 An error occurred in tag Software (1)Reset the alarm, and then try again.
data search process. operation error (2)If the alarm occurs again, save the
12 An error occurred move Software (1)Reset the alarm, and then try again.
instruction search operation error (2)If the alarm occurs again, save the
process. occurred CMOS.BIN in maintenance mode, and then
14 Variable information Software (1)Reset the alarm, and then try again.
does not exist. operation error (2)If the alarm occurs again, save the
position file data operation error (2)If the alarm occurs again, save the
reading. occurred CMOS.BIN in maintenance mode, and then
17 Variable data type is not Software (1)Reset the alarm, and then try again.
E1102000106GB02 453
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Code
18 An instruction is Software (1)Reset the alarm, and then try again.

included with incorrect operation error (2)If the alarm occurs again, save the
intermediate code in occurred CMOS.BIN in maintenance mode, and then
expression instruction. contact your MOTOMAN representative about
19 The syntax in Software (1)Reset the alarm, and then try again.
expression instruction is operation error (2)If the alarm occurs again, save the
20 The tag data length is Software (1)Reset the alarm, and then try again.
zero when tag data is operation error (2)If the alarm occurs again, save the
read. occurred CMOS.BIN in maintenance mode, and then
21 The necessary tag data Software (1)Reset the alarm, and then try again.
is not set. operation error (2)If the alarm occurs again, save the
22 The object to be Software (1)Reset the alarm, and then try again.
processed was secret operation error (2)If the alarm occurs again, save the
variable in position file occurred CMOS.BIN in maintenance mode, and then
control process, so it contact your MOTOMAN representative about
could not be processed. occurrence status (operating procedure).
23 The object to be Software (1)Reset the alarm, and then try again.
processed was position operation error (2)If the alarm occurs again, save the
type variable in position occurred CMOS.BIN in maintenance mode, and then
file control process, so it contact your MOTOMAN representative about
could not be processed. occurrence status (operating procedure).
24 Job argument settings Software (1)Reset the alarm, and then try again.
do not match when a operation error (2)If the alarm occurs again, save the
variable is given and/or occurred CMOS.BIN in maintenance mode, and then
taken between jobs. contact your MOTOMAN representative about
perform undefined operation error (2)If the alarm occurs again, save the
operation at four-rule occurred CMOS.BIN in maintenance mode, and then
operation instruction. contact your MOTOMAN representative about
26 Arithmetic stack used Software (1)Reset the alarm, and then try again.
for expression operation operation error (2)If the alarm occurs again, save the
exceeded. occurred CMOS.BIN in maintenance mode, and then
27 Arithmetic stack used Software (1)Reset the alarm, and then try again.
for expression operation operation error (2)If the alarm occurs again, save the
is empty. occurred CMOS.BIN in maintenance mode, and then
454 E1102000106GB02
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Code
28 Operation items are Software (1)Reset the alarm, and then try again.
lacking in expression operation error (2)If the alarm occurs again, save the
operation and operation occurred CMOS.BIN in maintenance mode, and then
processing cannot be contact your MOTOMAN representative about
performed. occurrence status (operating procedure).
254 Access mechanism for Software (1)Reset the alarm, and then try again.
old parameters is used. operation error (2)If the alarm occurs again, save the
occurred. operation error (2)If the alarm occurs again, save the
5.0.221 UNDEFINED GLOBAL VARIABLE
Sub
Code
0 The set data for byte Software (1)Reset the alarm, and then try again.
type variable area is operation error (2)If the alarm occurs again, save the
1 The set data for integer Software (1)Reset the alarm, and then try again.
2 The set data for double- Software (1)Reset the alarm, and then try again.
precision integer-type operation error (2)If the alarm occurs again, save the
variable area is occurred CMOS.BIN in maintenance mode, and then
3 The set data for real Software (1)Reset the alarm, and then try again.
4 The set data for Software (1)Reset the alarm, and then try again.
character-string type operation error (2)If the alarm occurs again, save the
E1102000106GB02 455
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Sub
Code
5 The set data for robot- Software (1)Reset the alarm, and then try again.
axis position-type operation error (2)If the alarm occurs again, save the
6 The set data for base- Software (1)Reset the alarm, and then try again.
variable (S1D occurred CMOS.BIN in maintenance mode, and then
parameter) area is contact your MOTOMAN representative about
incorrect. occurrence status (operating procedure).
7 The set data for station- Software (1)Reset the alarm, and then try again.
variable (S1D occurred CMOS.BIN in maintenance mode, and then
parameter) area is contact your MOTOMAN representative about
5.0.222 UNDEFINED LOCAL-VARIABLE
Sub
Code
0 The byte type variable is Setting error (1)Check the following settings.
not defined. Set the number of local variables to be used in
the job header.
1 The integer type Setting error (1)Check the following settings.

variable is not defined. Set the number of local variables to be used in
the job header.
2 The double-precision Setting error (1)Check the following settings.

integer-type variable is Set the number of local variables to be used in
not defined. the job header.
3 The real-number type Setting error (1)Check the following settings.

variable is not defined. Set the number of local variables to be used in
the job header.
4 The character-string Setting error (1)Check the following settings.

type variable is not Set the number of local variables to be used in
defined. the job header.
5 The robot-axis position- Setting error (1)Check the following settings.

6 The base-axis position- Setting error (1)Check the following settings.

7 The station-axis Setting error (1)Check the following settings.

position-type variable is Set the number of local variables to be used in
not defined. the job header.
456 E1102000106GB02
DX100 controller
5.0.223 LESS THAN 3 STEP (CIRCULAR)
Sub
Code

Perform teaching so that circulation
interpolation steps are continuous three points
or more.
5.0.224 LESS THAN 3 STEPS (SPLINE)
Sub
Code

Perform teaching so that spline interpolation
steps are continuous three points or more.
5.0.225 UNDEFINED JOB
Sub
Code

Check if the CALL/JUMP destination job is
registered. If the job is not registered, delete the
JUMP instruction where an alarm occurred.
5.0.226 UNDEFINED LABEL
Sub
Code

Check if the JUMP destination label is
registered. If the label is not registered, delete
the JUMP instruction where alarm occurred.
E1102000106GB02 457
DX100 controller
5.0.227 UNDEFINED RETURN JOB
Sub
Code

If there is an illegal RET instruction in the start
job, delete the RET instruction.
Check if RET instruction is not executed under
the condition that there is no job in the job call
stack. In that case, execute it from master (start)
job.
5.0.228 LACK OF LOCAL-VARIABLE AREA
Sub
Code

Reduce the number of local variables to be
used.
5.0.229 UNSUCCESSFUL FINE POSITIONING
Sub
Code
Sub Code: Bit Effect of external (1)Check the following settings.

specification of axis force Move the robot by the axis operation, etc. to
where error occurred remove the external force of axis where alarm
occurred.
458 E1102000106GB02
DX100 controller
5.0.230 DATA PRESET ERROR
Sub
Code
1 The token for Software (1)Reset the alarm, and then try again.
prereading processing operation error (2)If the alarm occurs again, save the
could not be obtained. occurred CMOS.BIN in maintenance mode, and then
processing has not operation error (2)If the alarm occurs again, save the
been completed within occurred CMOS.BIN in maintenance mode, and then
the time, and the waiting contact your MOTOMAN representative about
time for completion occurrence status (operating procedure).
exceeded the limit.
operation processing operation error (2)If the alarm occurs again, save the
has not been completed occurred CMOS.BIN in maintenance mode, and then
within the time, and the contact your MOTOMAN representative about
waiting time for occurrence status (operating procedure).
completion exceeded
the limit.
prereading operation operation error (2)If the alarm occurs again, save the
process. occurred CMOS.BIN in maintenance mode, and then
has not been operation error (2)If the alarm occurs again, save the
completed. occurred CMOS.BIN in maintenance mode, and then
occurred in job operation error (2)If the alarm occurs again, save the
execution process. occurred CMOS.BIN in maintenance mode, and then
5.0.231 OVER VARIABLE LIMIT
Sub
Code
0 The variable value Setting error (1)Check the following settings.

exceeded the limit. Check the settings for variable, and then
correct the job to fall within the input range of
the tag.
E1102000106GB02 459
DX100 controller
Sub
Code
1 The value for the binary Setting error (1)Check the following settings.
(0/1) data type variable Check the settings for variable, and then
exceeded the limit. correct the job to fall within the input range of
the tag.
2 The value for the signed Setting error (1)Check the following settings.
1-byte data type Check the settings for variable, and then
variable is less than the correct the job to fall within the input range of
minimum value. the tag.
3 The value for the Setting error (1)Check the following settings.
unsigned 1-byte data Check the settings for variable, and then
type variable is less correct the job to fall within the input range of
than the minimum the tag.
value.
value.
value.
8 The value for the real- Setting error (1)Check the following settings.
number 4-byte data type Check the settings for variable, and then
character-string type Check the settings for variable, and then
variable exceeded the correct the job to fall within the input range of
maximum value. the tag.
type variable exceeded correct the job to fall within the input range of
the maximum value. the tag.
460 E1102000106GB02
DX100 controller
Sub
Code
32776 The value for the real- Setting error (1)Check the following settings.
number 4-byte data type Check the settings for variable, and then
character-string type Check the settings for variable, and then
5.0.232 DEFECTIVE TAUGHT POINT(CIRC)
Sub
Code

Check the settings for three teaching points so
that circular interpolation steps do not lie in a
straight line.
E1102000106GB02 461
DX100 controller
5.0.233 WEAVING CONTROL ERROR
Sub
Code
1 Weaving control-group Software (1)Reset the alarm, and then try again.
4 When the speed is Setting error (1)Check the following settings.

specified by weaving Reset the value 0.1 seconds or more.
time in the weaving file,
zero or the negative
value is set for the
weaving time.
5 When the speed is Setting error (1)Check the following settings.

specified by frequency Reset the value 0.1 Hz or more.
in the weaving file, zero
or the negative value is
set for the frequency.
6 When the timer mode is Setting error (1)Check the following settings.
specified in the weaving Set a positive value for the timer value.
file, a negative value is
set for the timer value.
7 For triangle or L-type Setting error (1)Check the following settings.

weaving, zero is set for Set a positive value for the vertical and
the vertical or horizontal horizontal distance.
distance.
8 The coordinate control Setting error (1)Check the following settings.

axis designation for the Match the control group designation of the wall
reference point is point and weaving execution.
different from actual
control axis.
9 The distance between Setting error (1)Check the following settings.

the point P and the TCP Set the correct dimensions in the tool data.
could not be calculated
in wrist weaving.
10 The distance between Setting error (1)Check the following settings.

the point P and the TCP Set the correct dimensions in the tool data.
could not be calculated
in circular wrist weaving.
11 The Y-direction element Setting error (1)Check the following settings.

of circular coordinate Check the settings for wall and horizontal
system for circular wrist direction.
weaving could not be
calculated.
462 E1102000106GB02
DX100 controller
Sub
Code
12 The X-direction element Setting error (1)Check the following settings.

of circular coordinate Check the settings for wall and horizontal
system for circular wrist direction.
weaving could not be
calculated.
14 Weaving basic- Software (1)Reset the alarm, and then try again.
orientation calculation operation error (2)If the alarm occurs again, save the
15 Calculation error of Software (1)Reset the alarm, and then try again.
horizontal- and wall- operation error (2)If the alarm occurs again, save the
direction vector for occurred CMOS.BIN in maintenance mode, and then
weaving contact your MOTOMAN representative about
16 Weaving Setting error (1)Check the following settings.

synchronization file Check the number of the weaving
number selection range synchronizing file for use.
error
5.0.234 UNMATCHED POSN VAR DATA TYPE
Sub
Code

Match the data type of position type variable.
5.0.235 FILE NO. ERROR
Sub
Code
1 An error occurred in tool Setting error (1)Check the following settings.

file number check. Confirm that the specified tool file number is 0
to 63.
2 An error occurred in Setting error (1)Check the following settings.

user coordinate file Confirm that the specified user coordinate file
number check. number is 1 to 63.

calibration file number Confirm that the specified robot calibration file
check between the number is 1 to 32.
robots.
E1102000106GB02 463
DX100 controller
Sub
Code
4 An error occurred in tool Setting error (1)Check the following settings.

calibration file number Confirm that the specified tool file number is 0
check. to 63.

reference point number Confirm that the specified robot calibration file
check. number is 1 to 8.

check for welding start Confirm that the specified welding condition
condition file number. start file number is 1 to 48.

check for welding end Confirm that the specified welding condition
condition file number. end file number is 1 to 48.

conveyor characteristic Confirm that the specified conveyor condition
file number check. file number is 1 to 6.

press characteristic file Confirm that the specified press characteristic
number check. file number is 0 to 3.

conveyor calibration file Confirm that the specified conveyor calibration
number check. file number is 1 to 6.

argument number Confirm that the argument number is 1 to 16.
check.

check for motor gun Confirm that the specified servo gun
characteristic file characteristic file number is 1 to 24.
number.
5.0.236 UNDEFINED REFERENCE POINT
Sub
Code
Sub Code: Reference Setting error (1)Check the following settings.

point number in binary Set the reference point.
464 E1102000106GB02
DX100 controller
5.0.237 STACK MORE THAN 10 (JOB CALL)
Sub
Code

Change the job configuration so that the
number of nests for CALL instruction is twelve
or less.
5.0.238 OVER VARIABLE NO
Sub
Code
The variable number is Setting error (1)Check the following settings.

out of range. Correct the job using the variable number
Sub Code: The variable within the range.
number which an
attempt was made to
use
5.0.239 UNDEFINED POWER SOURCE COND.
Sub
Code

Complete the settings for the arc welding
characteristic file.
5.0.240 UNDEFINED ARC START COND FILE
Sub
Code

Complete the settings for the welding start
condition file.
E1102000106GB02 465
DX100 controller
5.0.241 UNDEFINED ARC END COND FILE
Sub
Code

Complete the settings for the welding end
condition file.
5.0.242 WRONG WELDER SELECTION
Sub
Code

Check the settings for the reference unit of the
welding voltage.
5.0.243 EXCESSIVE INSTRUCTION EQUATION
Sub
Code

Separate the operation expression, shorten the
expression, and then check the settings for the
job.
5.0.244 ZERO DIVIDED OCCURRENCE
Sub
Code

Do not divide by zero.
466 E1102000106GB02
DX100 controller
5.0.245 UNDEFINED AUTO-WELD RELEASE COND
Sub
Code

Check the settings for the number of times of
welding release condition.
5.0.246 UNDEFINED POSITION FOR ARC RETRY
Sub
Code

Check the settings for the move instruction
following ARCON instruction.
5.0.247 PARITY ERROR
Sub
Code

Check the settings for the parity data of the
user I/O group.
5.0.248 OVER BCD RANGE
Sub
Code

Correct the BCD data so that it is within the
limit.
E1102000106GB02 467
DX100 controller
5.0.249 OVER BINARY RANGE (PARITY CHECK)
Sub
Code

Correct the binary data so that it is within the
limit.
5.0.250 OFFLINE UNDEFINED COMMAND (ARITH)
Sub
Code
was issued to the offline operation error (2)If the alarm occurs again, save the
position-data occurred CMOS.BIN in maintenance mode, and then
preparation section. contact your MOTOMAN representative about
5.0.251 USER COORD STEP NOT ENOUGH
Sub
Code

Correct the JOB that the number of steps will
be three or more.
5.0.252 ROBOT CALIBRATION DATA ERROR
Sub
Code
1 The calibration between Setting error (1)Check the following settings.

robots cannot be Do not use a coordinated motion with this robot.
executed for this model.
468 E1102000106GB02
DX100 controller
Sub
Code
2 The master group and Software (1)Reset the alarm, and then try again.
the slave group are set operation error (2)If the alarm occurs again, save the
to the same group. occurred CMOS.BIN in maintenance mode, and then
3 Incorrect designation of Software (1)Reset the alarm, and then try again.
the control group for operation error (2)If the alarm occurs again, save the
master group occurred CMOS.BIN in maintenance mode, and then
slave group occurred CMOS.BIN in maintenance mode, and then
the occupation control operation error (2)If the alarm occurs again, save the
group for calibration occurred CMOS.BIN in maintenance mode, and then
data contact your MOTOMAN representative about
the enabling control operation error (2)If the alarm occurs again, save the
7 Among three points in Setting error (1)Check the following settings.

the master-group's Teach the data for calibration so that each point
calibration data, two or is different.
three points are on the
same point.
8 Among three points in Setting error (1)Check the following settings.

the slave-group's Teach the data for calibration so that each point
calibration data, two or is different.
three points are on the
same point.
9 The number of the Software (1)Reset the alarm, and then try again.
teaching points for operation error (2)If the alarm occurs again, save the
calibration data is occurred CMOS.BIN in maintenance mode, and then
insufficient. contact your MOTOMAN representative about
E1102000106GB02 469
DX100 controller
5.0.253 ROBOT CALIBRATION FRAME ERROR
Sub
Code
1 The calibration between Setting error (1)Check the following settings.

robots cannot be The calibration function between robots cannot
executed for this model. be used for this model.
2 The master group and Setting error (1)Check the following settings.
the slave group are set Set the different groups for the master group
to the same group. and the slave group.
master group occurred CMOS.BIN in maintenance mode, and then
slave group occurred CMOS.BIN in maintenance mode, and then
5 Calibration data setting Software (1)Reset the alarm, and then try again.
5.0.254 ROBOT CARIB STEP NOT ENOUGH
Sub
Code

Check the settings for number of the job steps
470 E1102000106GB02
DX100 controller
5.0.255 ROBOT CALIBRATION DATA ERROR
Sub
Code
1 Incorrect number of Software (1)Reset the alarm, and then try again.
teaching points for tool operation error (2)If the alarm occurs again, save the
calibration occurred CMOS.BIN in maintenance mode, and then
the occupation control operation error (2)If the alarm occurs again, save the
the enabling control operation error (2)If the alarm occurs again, save the
calibration data occurred CMOS.BIN in maintenance mode, and then
5.0.256 ARITHMETIC ERR (COMPACT RMT WELD)
Sub
Code
1 The reference point is Setting error (1)Check the following settings.

not set. Set the reference point.
2 The start point and end Setting error (1)Check the following settings.
point are on the same Change the teaching positions so that the start
point. point and end point are different.
3 The straight line which Setting error (1)Check the following settings.
connects the start point Correct the teaching positions so that the angle
and an end point, and that the Z direction of the tool and the straight
the angle which the Z line which connects the start point with the end
direction of a tool makes point make becomes 10 degrees or more.
are less than 10
E1102000106GB02 471
DX100 controller
5.0.257 ARITHMETIC ALARM RESET ERROR
Sub
Code

5.0.258 WRONG CONTROL GROUP AXIS
Sub
Code
Sub Code:The related Setting error (1)Check the following settings.

control-group Make the setting in advance so that the control
group of the CALL/JUMP designation job is
included in that of the CALL/JUMP source job.
Don't start the job which including control group
under already operation by "PSTART"
instruction.
5.0.259 CANNOT EXECUTE JOB (NO ROBOT)
Sub
Code

Add the robot axis to the control-group of the
job.
472 E1102000106GB02
DX100 controller
5.0.260 CANNOT EDIT (EDIT LOCK JOB)
Sub
Code

change the tag data. Release the prohibition.

change the speed tag Release the prohibition.
data.

change the board Release the prohibition.
thickness tag data.
5.0.261 SELECT ERROR (APPLICATION)
Sub
Code
Sub Code: Application Setting error (1)Check the following settings.

number Set the application to a specified robot by the
application selection of maintenance mode.
5.0.262 SELECT ERROR (SENSOR 1)
Sub
Code
Sub Code:Sensor Setting error (1)Check the following settings.

number Select the option function for the specified robot
in the option function selection of maintenance
mode.
E1102000106GB02 473
DX100 controller
5.0.263 WRONG PORT NO. (ANALOG OUTPUT)
Sub
Code
Sub Code: Application Setting error (1)Check the following settings.

number Set following value to the AxP010 parameter.
For arc: 1
Arc + arc: 3
Three arc: 5
Four arc: 7
5.0.264 WRONG SELECTION (SENSOR)
Sub
Code

5.0.265 PATH OVER
Sub
Code

Set the path over radius within the allowable
range.
474 E1102000106GB02
DX100 controller
5.0.266 WRONG MECH PARAMETER FILE
Sub
Code

5.0.267 DEFECTIVE TAUGHT POINT(CUTTING)
Sub
Code
1 The C- and W-axis Setting error (1)Check the following settings.

position at the cutting Check the settings for the cutting start position
start position is not zero (zero pulse).
pulse.
2 Zero is set for the Setting error (1)Check the following settings.
cutting radius. Check the settings for radius (a value bigger
than zero).
3 The cutting machine Setting error (1)Check the following settings.

axis is not mounted. The CUT instruction can be used for the robot
with small-circle cutting axis only.
4 This robot cannot Setting error (1)Check the following settings.

perform a hexagonal Select an other cutting form.
cutting motion.
5.0.268 DEFECTIVE TAUGHT POINT(ENDLESS)
Sub
Code
1 After the Endless Setting error (1)Check the following settings.

rotation completed, an To perform an interpolation motion such as
attempt was made to MOVL and MOVC after an Endless rotation,
execute an interpolation execute an MRESET instruction beforehand.
instruction such as
MOVL and MOVC
before executing an
MRESET instruction.
E1102000106GB02 475
DX100 controller
Sub
Code
2 The base axis is set as Setting error (1)Check the following settings.
an Endless rotation Check the parameter setting that designates
axis. The Endless the Endless rotation axis.
function cannot be used
with the base axis.

execute the Endless Check the parameter setting that designates
function although the the Endless rotation axis.
endless axis was not
designated.
4 The Endless axis Setting error (1)Check the following settings.

exceeded the maximum Set the rotation amount so that the Endless
pulse value (+- axis does not exceed the maximum pulse value.
536870911).
5.0.269 CORRECTIONAL DIRECTION ERROR
Sub
Code
1 Control-group Software (1)Reset the alarm, and then try again.

designation error for operation error (2)If the alarm occurs again, save the
correcting-direction occurred CMOS.BIN in maintenance mode, and then
preparation contact your MOTOMAN representative about
2 Designation error for the Software (1)Reset the alarm, and then try again.
correcting-direction operation error (2)If the alarm occurs again, save the
coordinates occurred CMOS.BIN in maintenance mode, and then
3 When "any direction" is Setting error (1)Check the following settings.

set for the correcting Check the settings for the correcting direction
direction, the correction with the reference point (REFP).
coordinates is not
prepared.
4 When "any direction" is Setting error (1)Check the following settings.

set for the correcting Check the settings for the reference points
direction, the reference (REFP) so that each point is different.
points (REFP) are
taught on the same
point.
5 Designation error for the Setting error (1)Check the following settings.
coordinated motion Match the control group designation of the wall
control axis at the point and weaving execution.
reference point
476 E1102000106GB02
DX100 controller
5.0.270 POSITION CORRECTION ERROR
Sub
Code
1 Data unmatched Software (1)Reset the alarm, and then try again.
between the correction operation error (2)If the alarm occurs again, save the
amount data and the job occurred CMOS.BIN in maintenance mode, and then
data: contact your MOTOMAN representative about
The information about occurrence status (operating procedure).
the control groups
designated for the
series of jobs, which is
added to the correction
amount data, does not
include the valid control-
group for the job.
2 Data unmatched Software (1)Reset the alarm, and then try again.
between the correction operation error (2)If the alarm occurs again, save the
amount data and the job occurred CMOS.BIN in maintenance mode, and then
data: contact your MOTOMAN representative about
The valid control-group occurrence status (operating procedure).
information that is
added to the correction
amount data disagrees
with the valid control-
group for the job.
5.0.271 OVER TOOL FILE NO.
Sub
Code

E1102000106GB02 477
DX100 controller
5.0.272 DEFECTIVE TAUGHT POINT(WEAV)
Sub
Code
1 The weaving start point Setting error (1)Check the following settings.
and end point are on the Check the settings for the positions so that the
same point. weaving start point and end point are different.
2 Among the weaving Setting error (1)Check the following settings.

start point, end point, Check the settings for the positions so that the
and reference point, two weaving start point, end point, and reference
or three points are on point are different.
the same point.
5.0.273 UNDEFINED ROBOT CALIBRATION
Sub
Code

group which calibration Before using the coordinated motion, execute
is not completed the calibration between robots.
5.0.274 PARAMETER ERROR
Sub
Code
1 The setting of the robot Software (1)Reset the alarm, and then try again.
number is incorrect. operation error (2)If the alarm occurs again, save the
2 Zero is set for the Software (1)Reset the alarm, and then try again.
resolution. operation error (2)If the alarm occurs again, save the
478 E1102000106GB02
DX100 controller
Sub
Code
3 Zero is set in the Software (1)Reset the alarm, and then try again.
feedback pulse operation error (2)If the alarm occurs again, save the
parameter. occurred CMOS.BIN in maintenance mode, and then
4 The setting of L-axis Software (1)Reset the alarm, and then try again.
ball-screw data is operation error (2)If the alarm occurs again, save the
5 The setting of U-axis Software (1)Reset the alarm, and then try again.
ball-screw data is operation error (2)If the alarm occurs again, save the
6 Zero or a negative value Software (1)Reset the alarm, and then try again.
is set for MAXPPS. operation error (2)If the alarm occurs again, save the
is set for the maximum operation error (2)If the alarm occurs again, save the
acceleration speed. occurred CMOS.BIN in maintenance mode, and then
is set for the maximum operation error (2)If the alarm occurs again, save the
deceleration speed. occurred CMOS.BIN in maintenance mode, and then
is set for the play-mode operation error (2)If the alarm occurs again, save the
servo averaging time. occurred CMOS.BIN in maintenance mode, and then
10 The setting of the robot Software (1)Reset the alarm, and then try again.
number is incorrect. An operation error (2)If the alarm occurs again, save the
undefined type is occurred CMOS.BIN in maintenance mode, and then
designated. contact your MOTOMAN representative about
11 The incorrect coordinate Software (1)Reset the alarm, and then try again.
system is designated for operation error (2)If the alarm occurs again, save the
the cubic interference. occurred CMOS.BIN in maintenance mode, and then
An undefined coordinate contact your MOTOMAN representative about
system is set. occurrence status (operating procedure).
12 The designation of the Software (1)Reset the alarm, and then try again.
user coordinates operation error (2)If the alarm occurs again, save the
number is incorrect. A occurred CMOS.BIN in maintenance mode, and then
number out of the contact your MOTOMAN representative about
setting range is set. occurrence status (operating procedure).
E1102000106GB02 479
DX100 controller
Sub
Code
13 The reduction ratio 0 Software (1)Reset the alarm, and then try again.
is output. operation error (2)If the alarm occurs again, save the
is set for the spring operation error (2)If the alarm occurs again, save the
constant. occurred CMOS.BIN in maintenance mode, and then
is set for the motor operation error (2)If the alarm occurs again, save the
inertia. occurred CMOS.BIN in maintenance mode, and then
is set for the speed operation error (2)If the alarm occurs again, save the
calculation constant. occurred CMOS.BIN in maintenance mode, and then
17 Dividing number setting Software (1)Reset the alarm, and then try again.
18 The setting of allowable Software (1)Reset the alarm, and then try again.
torque for the speed operation error (2)If the alarm occurs again, save the
reducer is incorrect. occurred CMOS.BIN in maintenance mode, and then
19 The setting of allowable Software (1)Reset the alarm, and then try again.
torque for the motor is operation error (2)If the alarm occurs again, save the
20 The robot type is not Software (1)Reset the alarm, and then try again.
applicable for torque operation error (2)If the alarm occurs again, save the
acceleration/ occurred CMOS.BIN in maintenance mode, and then
deceleration. contact your MOTOMAN representative about
is set for the balancer. operation error (2)If the alarm occurs again, save the
22 The angle of hexagon Software (1)Reset the alarm, and then try again.
set for the CUT operation error (2)If the alarm occurs again, save the
instruction is out of the occurred CMOS.BIN in maintenance mode, and then
range "0 degree < angle contact your MOTOMAN representative about
< 60 degrees." occurrence status (operating procedure).
480 E1102000106GB02
DX100 controller
Sub
Code
23 Encoder type Software (1)Reset the alarm, and then try again.
24 Observer sampling time Software (1)Reset the alarm, and then try again.
25 Two-degree-of-freedom Software (1)Reset the alarm, and then try again.

system Kp value error operation error (2)If the alarm occurs again, save the
26 The setting of torque Software (1)Reset the alarm, and then try again.
acceleration/ operation error (2)If the alarm occurs again, save the
deceleration occurred CMOS.BIN in maintenance mode, and then
designation parameter contact your MOTOMAN representative about
is incorrect. occurrence status (operating procedure).
27 Observer polarity setting Software (1)Reset the alarm, and then try again.
28 The inertia value error Software (1)Reset the alarm, and then try again.
for the shift value operation error (2)If the alarm occurs again, save the
calculation occurred CMOS.BIN in maintenance mode, and then
29 Observer attenuation Software (1)Reset the alarm, and then try again.
constant error operation error (2)If the alarm occurs again, save the
30 Torque estimation Software (1)Reset the alarm, and then try again.
parameter error operation error (2)If the alarm occurs again, save the
31 The segment clock error Software (1)Reset the alarm, and then try again.
occurred when the PV operation error (2)If the alarm occurs again, save the
loop is 1 ms. occurred CMOS.BIN in maintenance mode, and then
32 Non-robot axis observer Software (1)Reset the alarm, and then try again.
selection error operation error (2)If the alarm occurs again, save the
E1102000106GB02 481
DX100 controller
Sub
Code
response time constant. operation error (2)If the alarm occurs again, save the
34 Efficiency data error Software (1)Reset the alarm, and then try again.
averaging time operation error (2)If the alarm occurs again, save the
constant. occurred CMOS.BIN in maintenance mode, and then
36 Torque limit ratio data Software (1)Reset the alarm, and then try again.
37 Coulomb friction data Software (1)Reset the alarm, and then try again.
38 Kinematic friction Software (1)Reset the alarm, and then try again.
coefficient data error operation error (2)If the alarm occurs again, save the
39 The setting in the Software (1)Reset the alarm, and then try again.
optimized acceleration/ operation error (2)If the alarm occurs again, save the
deceleration occurred CMOS.BIN in maintenance mode, and then
designation parameter contact your MOTOMAN representative about
is incorrect. occurrence status (operating procedure).
40 An uninstalled function Software (1)Reset the alarm, and then try again.
is designated. operation error (2)If the alarm occurs again, save the
41 The dynamics-model Software (1)Reset the alarm, and then try again.
calculation at the operation error (2)If the alarm occurs again, save the
optimized acceleration/ occurred CMOS.BIN in maintenance mode, and then
deceleration is invalid. contact your MOTOMAN representative about
42 Zero is set for the inertia Software (1)Reset the alarm, and then try again.
of dynamics fixed operation error (2)If the alarm occurs again, save the
model. occurred CMOS.BIN in maintenance mode, and then
482 E1102000106GB02
DX100 controller
Sub
Code
43 Designation error for Software (1)Reset the alarm, and then try again.
dynamics-model operation error (2)If the alarm occurs again, save the
calculation type occurred CMOS.BIN in maintenance mode, and then
44 The optimized Software (1)Reset the alarm, and then try again.
acceleration/ operation error (2)If the alarm occurs again, save the
deceleration control of occurred CMOS.BIN in maintenance mode, and then
speed limit function is contact your MOTOMAN representative about
disabled. occurrence status (operating procedure).
45 The axis designation Software (1)Reset the alarm, and then try again.
parameter for the speed operation error (2)If the alarm occurs again, save the
limit function is not set. occurred CMOS.BIN in maintenance mode, and then
46 The setting in the mode Software (1)Reset the alarm, and then try again.
designation parameter operation error (2)If the alarm occurs again, save the
for the speed limit occurred CMOS.BIN in maintenance mode, and then
function is incorrect. contact your MOTOMAN representative about
47 Zero or negative value Software (1)Reset the alarm, and then try again.
is set in the allowable operation error (2)If the alarm occurs again, save the
braking torque occurred CMOS.BIN in maintenance mode, and then
parameter for the speed contact your MOTOMAN representative about
limit function. occurrence status (operating procedure).
is set in the speed operation error (2)If the alarm occurs again, save the
adjustment ratio occurred CMOS.BIN in maintenance mode, and then
parameter for the speed contact your MOTOMAN representative about
limit function. occurrence status (operating procedure).
is set in the torque limit operation error (2)If the alarm occurs again, save the
adjustment ratio occurred CMOS.BIN in maintenance mode, and then
parameter for the contact your MOTOMAN representative about
acceleration/ occurrence status (operating procedure).
deceleration tuning.
is set in the parameter operation error (2)If the alarm occurs again, save the
that sets the shortest occurred CMOS.BIN in maintenance mode, and then
acceleration/ contact your MOTOMAN representative about
deceleration time for occurrence status (operating procedure).
when the excessive
torque is applied at the
optimized acceleration/
deceleration.
dimension information operation error (2)If the alarm occurs again, save the
"a3" for the SKR robot. occurred CMOS.BIN in maintenance mode, and then
E1102000106GB02 483
DX100 controller
Sub
Code
52 The setting of sealer- Software (1)Reset the alarm, and then try again.
gun control-group operation error (2)If the alarm occurs again, save the
parameter for the servo occurred CMOS.BIN in maintenance mode, and then
sealer control is contact your MOTOMAN representative about
53 The parameter setting Software (1)Reset the alarm, and then try again.
for the Cartesian robot operation error (2)If the alarm occurs again, save the
X-axis data is incorrect. occurred CMOS.BIN in maintenance mode, and then
54 The parameter setting Software (1)Reset the alarm, and then try again.
for the Cartesian robot operation error (2)If the alarm occurs again, save the
Y-axis data is incorrect. occurred CMOS.BIN in maintenance mode, and then
55 The setting for the Dual- Software (1)Reset the alarm, and then try again.
arm robot is incorrect. operation error (2)If the alarm occurs again, save the
is set in the FORMCUT operation error (2)If the alarm occurs again, save the
maximum acceleration/ occurred CMOS.BIN in maintenance mode, and then
deceleration time contact your MOTOMAN representative about
parameter. occurrence status (operating procedure).
57 The setting of expanded Software (1)Reset the alarm, and then try again.
check-point designating operation error (2)If the alarm occurs again, save the
bits for the arm occurred CMOS.BIN in maintenance mode, and then
interference check is contact your MOTOMAN representative about
is set for the sphere at operation error (2)If the alarm occurs again, save the
the arm interference occurred CMOS.BIN in maintenance mode, and then
check point. contact your MOTOMAN representative about
is set for the cylinder at operation error (2)If the alarm occurs again, save the
the arm interference occurred CMOS.BIN in maintenance mode, and then
check point. contact your MOTOMAN representative about
62 The number of Software (1)Reset the alarm, and then try again.
designated check points operation error (2)If the alarm occurs again, save the
for the arm interference occurred CMOS.BIN in maintenance mode, and then
check is insufficient. contact your MOTOMAN representative about
70 All of X, Y, and Z value Software (1)Reset the alarm, and then try again.
of the expanded check- operation error (2)If the alarm occurs again, save the
point 1 for the arm occurred CMOS.BIN in maintenance mode, and then
interference check are contact your MOTOMAN representative about
set to zero. occurrence status (operating procedure).
484 E1102000106GB02
DX100 controller
Sub
Code
71 All of X, Y, and Z value Software (1)Reset the alarm, and then try again.
of the expanded check- operation error (2)If the alarm occurs again, save the
point 2 for the arm occurred CMOS.BIN in maintenance mode, and then
interference check are contact your MOTOMAN representative about
set to zero. occurrence status (operating procedure).
85 The setting of wrist axis Software (1)Reset the alarm, and then try again.
angle for tube- operation error (2)If the alarm occurs again, save the
incorporated wrist type occurred CMOS.BIN in maintenance mode, and then
robots or three-roll wrist contact your MOTOMAN representative about
type robots is incorrect. occurrence status (operating procedure).
86 The special link JOG Software (1)Reset the alarm, and then try again.
operation cannot be operation error (2)If the alarm occurs again, save the
used with this robot. occurred CMOS.BIN in maintenance mode, and then
87 The setting in the Software (1)Reset the alarm, and then try again.
parameter for special operation error (2)If the alarm occurs again, save the
angle limit check occurred CMOS.BIN in maintenance mode, and then
designation is incorrect. contact your MOTOMAN representative about
91 The setting of the Software (1)Reset the alarm, and then try again.
deceleration speed for operation error (2)If the alarm occurs again, save the
the path-priority control occurred CMOS.BIN in maintenance mode, and then
is less than zero. contact your MOTOMAN representative about
92 A negative value is set Software (1)Reset the alarm, and then try again.
in the roundness operation error (2)If the alarm occurs again, save the
parameter for the path- occurred CMOS.BIN in maintenance mode, and then
priority control. contact your MOTOMAN representative about
93 The link parameter for Software (1)Reset the alarm, and then try again.
the cutting device is not operation error (2)If the alarm occurs again, save the
set. occurred CMOS.BIN in maintenance mode, and then
95 The real-time bending Software (1)Reset the alarm, and then try again.
correction function is operation error (2)If the alarm occurs again, save the
enabled for a control- occurred CMOS.BIN in maintenance mode, and then
group other than robot contact your MOTOMAN representative about
axis. occurrence status (operating procedure).
dimension information operation error (2)If the alarm occurs again, save the
"a2" for the Arc Cell occurred CMOS.BIN in maintenance mode, and then
Torch Arm type robots. contact your MOTOMAN representative about
deceleration ratio for operation error (2)If the alarm occurs again, save the
double T-axis unit of the occurred CMOS.BIN in maintenance mode, and then
V-shaped double T-axis contact your MOTOMAN representative about
robot. occurrence status (operating procedure).
E1102000106GB02 485
DX100 controller
5.0.275 DEFECTIVE TAUGHT POINT(CALIB)
Sub
Code
1 Some of the teaching Setting error (1)Check the following settings.

points for master-group Perform the teaching again so that the teaching
are on the same point. points are different from one another.
2 Some of the teaching Setting error (1)Check the following settings.

points for slave-group Perform the teaching again so that the teaching
are on the same point. points are different from one another.
3 The 2nd-axis positions Setting error (1)Check the following settings.

of C3, C4, and C5 of Perform the teaching again so that the 2ndaxis
station axes are not the positions of C3, C4, and C5 of the station axes
same. are the same.
4 The 1st-axis positions of Setting error (1)Check the following settings.

C1, C2, and C3 of Perform the teaching again so that the 1staxis
station axes are not the positions of C1, C2, and C3 of station axes are
same. the same.
5 The 2nd-axis positions Setting error (1)Check the following settings.

of C1, C2, and C3 of Perform the teaching again so that the teaching
station axes are the positions are different from one another.
same.
6 The 1st-axis rotation Setting error (1)Check the following settings.

direction of C3, C4, and Perform the teaching again so that the 1staxis
C5 of station axes are rotation direction of C3, C4, and C5 of station
not the same. axes are the same.
7 The 1st-axis (elevation Setting error (1)Check the following settings.

axis) positions of C1, Perform the teaching again so that the 1staxis
C2, and C3 of station (elevation axis) positions of C1, C2, and C3 of
axes are not the same. station axes are the same.
8 The 1st-axis (elevation Setting error (1)Check the following settings.

axis) positions of C3, Perform the teaching again so that the 1staxis
C4, and C5 of station (elevation axis) positions of C3, C4, and C5 of
axes are not the same. station axes are the same.
486 E1102000106GB02
DX100 controller
5.0.276 CANNOT EXECUTE JOB (NO GRP AXIS)
Sub
Code
An attempt was made to Setting error (1)Check the following settings.

execute an instruction Check the settings for the job instruction with
that could not be control group.
executed in a job
without control group.
5.0.277 UNDEFINED POSITION VARIABLE
Sub
Code
Sub Code: The variable Setting error (1)Check the following settings.
number Check the settings for the position type
variable.
5.0.278 UNDEFINED USER FRAME
Sub
Code
Sub Code: User Setting error (1)Check the following settings.

coordinate number Check the settings for the user coordinate.
5.0.279 OUT OF RANGE (PARALLEL PROCESS)
Sub
Code
Sub Code: Task number Software (1)Reset the alarm, and then try again.
E1102000106GB02 487
DX100 controller
5.0.280 SL BOARD ON-LINE ERROR
Sub
Code
The option board was Software (1)Reset the alarm, and then try again.
detected not to operate operation error (2)If the alarm occurs again, save the
normally at power ON. occurred CMOS.BIN in maintenance mode, and then

board to be safe.
5.0.281 UNDEFINED POSITION FOR ARC ON
Sub
Code

Register a step before the ARCON instruction.
5.0.282 UNDEFINED POS FOR RESTART RETURN
Sub
Code

Check the settings for the job.
488 E1102000106GB02
DX100 controller
5.0.283 REFP POS ERROR (SEARCH MOTION)
Sub
Code

Perform the teaching again so that the search
start point and the motion target point are not
the same.
Increase the distance between the search start
point and the motion target point.
5.0.284 SPECIFIED ERROR (COORDINATE)
Sub
Code
0 The specified Setting error (1)Check the following settings.

coordinate system does Check the settings for the coordinate system
not exist. which can be used.
1 Designation error of the Setting error (1)Check the following settings.

master tool coordinate Check the settings for the coordinate system
system. This coordinate which can be used.
system cannot be used.

tool coordinate system. Check the settings for the coordinate system
This coordinate system which can be used.
cannot be used.

direction of travel Check the settings for the coordinate system
coordinate system (for a which can be used.
shared function). This
coordinate system
cannot be used.

any direction coordinate Check the settings for the coordinate system
system (for a shared which can be used.
function). This
coordinate system
cannot be used.

approximation tool Check the settings for the coordinate system
coordinate system (for a which can be used.
shared function). This
coordinate system
cannot be used.
E1102000106GB02 489
DX100 controller
Sub
Code

conveyor coordinate Check the settings for the coordinate system

COMARC coordinate Check the settings for the coordinate system

power sensor Check the settings for the coordinate system
coordinate system. This which can be used.
coordinate system
cannot be used.

cylindrical coordinate Check the settings for the coordinate system

coordinate system for Check the settings for the coordinate system
the external reference which can be used.
point. This coordinate

coordinate system for Check the settings for the coordinate system
3D shifting. This which can be used.
coordinate system
cannot be used.

KOMATSU tool Z- Check the settings for the coordinate system
direction operation which can be used.
coordinate system. This
coordinate system
cannot be used.

KOMATSU tool JOG Check the settings for the coordinate system
operation coordinate which can be used.
system. This coordinate

coordinate system at Check the settings for the coordinate system
IMOV for 3D shifting. which can be used.
This coordinate system
cannot be used.

H-LINK type cylindrical Check the settings for the coordinate system
coordinate system. This which can be used.
coordinate system
cannot be used.
490 E1102000106GB02
DX100 controller
Sub
Code

FSER_FRAME type Check the settings for the coordinate system
cylindrical coordinate which can be used.
system. This coordinate
5.0.285 MFRAME ERROR
Sub
Code
1 The master-tool user Setting error (1)Check the following settings.

coordinates could not Execute the MFRAME instruction in
be prepared. coordinated job when you make the master tool
user coordinate.
5.0.286 CANNOT EXECUTE INST RUCTION (SQRT)
Sub
Code

Check the job settings so that the second
argument of SQRT instruction does not become
negative.
5.0.287 OUT OF RANGE (DROP-VALUE)
Sub
Code

group exceeding the Confirm the load setting to the robot.
allowable value
E1102000106GB02 491
DX100 controller
5.0.288 TWO STEPS SAME LINE (3 STEPS)
Sub
Code

Check the settings so that the teaching points
are not aligned in a straight line.
5.0.289 EXCESSIVE SEGMENT (SAFETY 1): LOW/HIGH
Sub
Code

group and axis Reduce the speed of the step where the alarm
occurred.
Change the move instruction to joint
5.0.290 EXCESSIVE SEGMENT (SAFETY 2): LOW/HIGH
Sub
Code

group and axis Reduce the speed of the step where the alarm
occurred.
Change the move instruction to joint
492 E1102000106GB02
DX100 controller
5.0.291 SEARCH MONITOR SET ERROR (SERVO)
Sub
Code
Sub Code: The related Software (1)Reset the alarm, and then try again.
control-group operation error (2)If the alarm occurs again, save the
5.0.292 SEARCH MON RELEASE ERR (SERVO)
Sub
Code
Sub Code: The related Software (1)Reset the alarm, and then try again.
control-group operation error (2)If the alarm occurs again, save the
5.0.293 AXIS BLOCKING
Sub
Code

group Check the settings for the general-purpose
input signal set in the parameter.
E1102000106GB02 493
DX100 controller
5.0.294 WRONG JOB TYPE
Sub
Code
Sub Code Setting error (1)Check the following settings.

0000_0001: A robot job Check the settings for the job to be started.
was started from the
concurrent job at CALL/
JUMP instruction
execution.
0000_1001: A
concurrent job was
started from the robot
job at CALL/JUMP
1000_0001: A system
job was started from the
robot job at CALL/JUMP
5.0.295 TAG DATA CHANGE PROCESS ERROR
Sub
Code

change the contents of The variable tag cannot be changed. Correct
variable tag data. the job so as not to use the variable tag.

change the tag data for Release the prohibition.
the job prohibited from
being edited.
instruction read-in. operation error (2)If the alarm occurs again, save the
3 The tag is not Software (1)Reset the alarm, and then try again.
registered. operation error (2)If the alarm occurs again, save the
494 E1102000106GB02
DX100 controller
Sub
Code
4 The tag data was Setting error (1)Check the following settings.
variable specification. The variable tag cannot be changed. Correct
the job so as not to use the variable tag.
5 The value which it was Setting error (1)Check the following settings.
made to change Check the contents of changing data.
exceeded the limit of tag
data.
7 An error occurred at tag Software (1)Reset the alarm, and then try again.
data change. operation error (2)If the alarm occurs again, save the
5.0.296 CANNOT EXECUTE INST (COUCUR JOB)
Sub
Code

Delete an instruction that cannot be executed
such as move instruction in the concurrent job.
5.0.297 UNDEFINED PORT NO.(AOUT)
Sub
Code

Check the settings for the specified analog
output port number.
E1102000106GB02 495
DX100 controller
5.0.298 SYNTAX ERROR
Sub
Code
1 A syntax error was Software (1)Reset the alarm, and then try again.
found in the IF operation error (2)If the alarm occurs again, save the
sentence. occurred CMOS.BIN in maintenance mode, and then
5.0.299 TWIN COORDINATED ERROR
Sub
Code
1 A job without control Setting error (1)Check the following settings.

group was started by Check the control group setting of the job to be
SYNC instruction. started by SYNC.
2 A job only with robot Setting error (1)Check the following settings.
axes was started by Check the control group setting of the job to be
SYNC instruction. started by SYNC.
3 A job only with master Setting error (1)Check the following settings.
control group axes was Check the control group setting of the job to be
started by SYNC started by SYNC.
instruction.
4 At full synchronization, Software (1)Reset the alarm, and then try again.
the completion timings operation error (2)If the alarm occurs again, save the
of move instructions for occurred CMOS.BIN in maintenance mode, and then
the master and the contact your MOTOMAN representative about
slave disagreed. occurrence status (operating procedure).
no operation request operation error (2)If the alarm occurs again, save the
from the master was occurred CMOS.BIN in maintenance mode, and then
sent. contact your MOTOMAN representative about
the execution timings of operation error (2)If the alarm occurs again, save the
move instructions for occurred CMOS.BIN in maintenance mode, and then
the master and the contact your MOTOMAN representative about
slave disagreed. occurrence status (operating procedure).
7 The twin synchronous Software (1)Reset the alarm, and then try again.
ID number is incorrect. operation error (2)If the alarm occurs again, save the
496 E1102000106GB02
DX100 controller
Sub
Code

execute triple Match the system number specification of the
synchronization when master between the job to be started by SYNC.
specified Sub-master for
the master was
different.
5.0.300 CONVEYOR TRACKING ERROR
Sub
Code
1 The base axis Setting error (1)Check the following settings.

specification is other Set the base axis specification of conveyor
than 1 or 2 for conveyor characteristic file to either 0, 1, or 2.
2 No robot axis in the job Setting error (1)Check the following settings.
for robot axis tracking Correct the job setting so that the robot axis
tracking is executed in the job where robot axis
exists.
3 No base axis in the job Setting error (1)Check the following settings.
for base axis tracking Correct the job settings so that the base axis
tracking is executed in the job where base axis
exists.
4 The conveyor board Setting error (1)Check the following settings.

number and conveyor Check the specification of conveyor condition
characteristic file file number for use.
number used are
incorrect.
5 There was no conveyor Software (1)Reset the alarm, and then try again.
start position data at operation error (2)If the alarm occurs again, save the
10 No base axis in the job Setting error (1)Check the following settings.
for arc tracking Correct the job setting so that the arc tracking is
executed in the job where robot axis exists.
E1102000106GB02 497
DX100 controller
5.0.301 UNDEFINED CONVEYOR COND FILE
Sub
Code
Sub Code: Conveyor Setting error (1)Check the following settings.

characteristic file Set "Use state" of conveyor characteristic file to
number "1: Use."
5.0.302 CONVEYOR SPEED DOWN
Sub
Code

number Correct the "Conveyor Lowest Speed" set in the
conveyor characteristic file.
5.0.303 ARITHMETIC ERROR (CV TRACKING)
Sub
Code
conveyor tracking operation error (2)If the alarm occurs again, save the
control-group occurred CMOS.BIN in maintenance mode, and then
user coordinates for the operation error (2)If the alarm occurs again, save the
conveyor tracking occurred CMOS.BIN in maintenance mode, and then

use the conveyor The conveyor tracking cannot be executed to
tracking function with the slave robot of the coordinate system.
the slave robot at Correct the job so that the conveyor tracking
coordinate motion. perform by the robot unit or without coordinated
motion.
4 Zero is set for the Setting error (1)Check the following settings.
resolution for the turn- Check the settings for the resolution.
table synchronization.
498 E1102000106GB02
DX100 controller
5.0.304 TORQUE INTERFERENCE
Sub
Code

Correctly set the weight information in the tool
file. ( Are the weight: W and the number set to
the load value of either Xg, Yg or Zg )
Reduce the speed in the step where the alarm
occurred.
5.0.305 TARGET VARIABLE TYPE UNMATCHED
Sub
Code

obtain the byte type Obtain as the byte type variable.
system variable by the
other type variable.

obtain the integer type Obtain as the integer type variable.

obtain the double- Obtain as the double-precision integer-type
precision integer-type variable.

obtain the real-number Obtain as the real-number type variable.
type system variable by
the other type variable.

obtain the character- Obtain as the character-string type variable.
string type system
variable by the other
type variable.
E1102000106GB02 499
DX100 controller
5.0.306 CORNER R CONTROL ERROR
Sub
Code
1 The Corner-R motion Setting error (1)Check the following settings.

cannot be used for Do not use the Corner-R motion for coordinated
coordinated motion. motion.

execute the Corner-R Check the settings for the teaching so that the
motion for the same start step and end step are not on the same
point. point.
3 The Corner-R zone is Setting error (1)Check the following settings.

taught on a straight line. Check the settings for teaching so that the
Corner-R zone is not on a strait line.
4 The start position or end Setting error (1)Check the following settings.
position for the Corner- Make the setting for the Corner-R radius small.
R motion could not be Make the moving amount of the Corner-R start
calculated inside the step long.
start zone or the end Make the moving amount of the Corner-R start
zone. end long.

cannot be used for Do not use the Corner-R motion for master
coordinated motion robots at coordinated motion.
(with master robots).

cannot be used for Use a MOVL instruction when using the
MOVC, MOVS, and Corner-R motion.
EIMOVC instructions.
7 The Corner-R motion is Setting error (1)Check the following settings.

disabled during Do not perform weaving when using the
weaving. Corner-R motion.
8 Different tool numbers Setting error (1)Check the following settings.

are set in a Corner-R Use the same tool number in a Corner-R zone.
zone (for the Corner-R
middle step and end
step).

disabled when the Disable the higher-order acceleration/
higher-order deceleration when using the Corner-R motion.
acceleration/
deceleration is
specified.

disabled during Do not perform the conveyor tracking when
conveyor tracking. using the Corner-R motion.
500 E1102000106GB02
DX100 controller
5.0.307 JOB QUE EMPTY ERROR
Sub
Code

Use "CALL QUE" under the condition that the
job data is set to the job queue .
5.0.308 INVALID INPUT STRING(VAL)
Sub
Code
1 There was no character Setting error (1)Check the following settings.

string representing a Check the settings for the data of the character
constant in character string to be extracted.
string to be extracted at
VAL instruction
execution.
5.0.309 MRESET ERROR
Sub
Code
1 An MRESET instruction Setting error (1)Check the following settings.

was executed while no Set the endless axis.
endless axis was
designated.
E1102000106GB02 501
DX100 controller
5.0.310 STACK LESS THAN 0 (JOB CALL)
Sub
Code
At job return, an attempt Software (1)Reset the alarm, and then try again.
was made to fetch a operation error (2)If the alarm occurs again, save the
data from an empty job occurred CMOS.BIN in maintenance mode, and then
call stack or to stack a contact your MOTOMAN representative about
data in the job call stack occurrence status (operating procedure).
that is full.
5.0.311 MID$ INST ERROR
Sub
Code
1 The first character of Setting error (1)Check the following settings.

character string to be Check the settings for the data of the character
extracted is null at MID$ string to be extracted.
2 The extraction start Setting error (1)Check the following settings.

position exceeds the Check the settings for the data of the character
character string length string to be extracted.
at MID$ instruction
execution.
5.0.312 CANNOT EXCUTE SYSTEM JOB
Sub
Code
Sub Code: System Software (1)Reset the alarm, and then try again.
number operation error (2)If the alarm occurs again, save the
502 E1102000106GB02
DX100 controller
5.0.313 PRIMITIVE ERROR
Sub
Code
Sub Code: Error code Software (1)Reset the alarm, and then try again.
5.0.314 CANNOT OPERATE SPECIFIED EVENT
Sub
Code
Sub Code: System Software (1)Reset the alarm, and then try again.
5.0.315 NOT EXECUTION OF INIEVNT
Sub
Code
Sub Code: System Setting error (1)Check the following settings.

number Execute an INIEVNT instruction before
executing an event related instruction.
5.0.316 CANNOT EXECUTE INST (USER JOB)
Sub
Code
Sub Code: System Setting error (1)Check the following settings.

number This instruction cannot be executed in the
system job. Correct the job so that the
instruction is executed in the user job.
E1102000106GB02 503
DX100 controller
5.0.317 CANNOT MEASURE TIP INSTALL COEF
Sub
Code
Sub Code: Gun number Setting error (1)Check the following settings.
Execute the "SVGUNCL TWC-AE", and then
execute the "SVGUNCL TWC=BE".
5.0.318 SOFTWARE UNMATCH
Sub
Code
1 The multi-layer welding Software (1)Reset the alarm, and then try again.
function is not used. operation error (2)If the alarm occurs again, save the
2 The observer function is Software (1)Reset the alarm, and then try again.
not used. operation error (2)If the alarm occurs again, save the
3 The TURBO function is Software (1)Reset the alarm, and then try again.
4 The COMARC function Software (1)Reset the alarm, and then try again.
is not used. operation error (2)If the alarm occurs again, save the
5 The conveyor/press Software (1)Reset the alarm, and then try again.
synchronization function operation error (2)If the alarm occurs again, save the
is not used. occurred CMOS.BIN in maintenance mode, and then
6 The shared motion Software (1)Reset the alarm, and then try again.
504 E1102000106GB02
DX100 controller
Sub
Code
7 The layer motion Software (1)Reset the alarm, and then try again.
8 The general sensor Software (1)Reset the alarm, and then try again.
9 The servo float function Software (1)Reset the alarm, and then try again.
is not used. operation error (2)If the alarm occurs again, save the
10 The laser cutting Software (1)Reset the alarm, and then try again.
function (with small operation error (2)If the alarm occurs again, save the
circle cutter) is not used. occurred CMOS.BIN in maintenance mode, and then
11 The motor gun function Software (1)Reset the alarm, and then try again.
(for spot welding operation error (2)If the alarm occurs again, save the
application) is not used. occurred CMOS.BIN in maintenance mode, and then
12 The speed control Software (1)Reset the alarm, and then try again.
function (VCON/VCOF) operation error (2)If the alarm occurs again, save the
is not used. occurred CMOS.BIN in maintenance mode, and then
13 The servo hand function Software (1)Reset the alarm, and then try again.
(for handling operation error (2)If the alarm occurs again, save the
application) is not used. occurred CMOS.BIN in maintenance mode, and then
14 The laser cutting Software (1)Reset the alarm, and then try again.
function (for form cutting operation error (2)If the alarm occurs again, save the
operation) is not used. occurred CMOS.BIN in maintenance mode, and then
15 The series Software (1)Reset the alarm, and then try again.
communication function operation error (2)If the alarm occurs again, save the
between the systems occurred CMOS.BIN in maintenance mode, and then
(PSEND/PRECV) is not contact your MOTOMAN representative about
used. occurrence status (operating procedure).
16 The motion extension Software (1)Reset the alarm, and then try again.
E1102000106GB02 505
DX100 controller
Sub
Code
17 The bending function is Software (1)Reset the alarm, and then try again.
18 The ME-NET function is Software (1)Reset the alarm, and then try again.
execute an undefined operation error (2)If the alarm occurs again, save the
instruction. occurred CMOS.BIN in maintenance mode, and then
5.0.319 USER FRAME MAKING ERROR
Sub
Code
1 The teaching points are Software (1)Reset the alarm, and then try again.
incorrect. operation error (2)If the alarm occurs again, save the
2 The teaching points for Setting error (1)Check the following settings.
user-coordinate turning Among three taught points in the teaching
are incorrect. position. Teach the three points again so that
they do not lie in the straight line.
3 The robot axis is not Software (1)Reset the alarm, and then try again.
specified for the control operation error (2)If the alarm occurs again, save the
group of the job to occurred CMOS.BIN in maintenance mode, and then
prepare the user contact your MOTOMAN representative about
coordinates. occurrence status (operating procedure).
5 Position data error Software (1)Reset the alarm, and then try again.
6 Setting error of the slave Software (1)Reset the alarm, and then try again.
group for user operation error (2)If the alarm occurs again, save the
coordinate conversion occurred CMOS.BIN in maintenance mode, and then
506 E1102000106GB02
DX100 controller
5.0.320 CANNOT MONITOR DISTANCE
Sub
Code

Change the interpolation instruction to MOVL/
MOVC.
Change the setting so that the arc retry or
restart operation does not perform.
5.0.321 UNDEFINED PRESS COND DATA FILE
Sub
Code
Sub Code: Press Setting error (1)Check the following settings.

characteristic file Set the status of press characteristic file to be
number used in the job to "Used State."
5.0.322 UNDEFINED PRESS RESOLUTION DATA
Sub
Code
Sub Code: Press Setting error (1)Check the following settings.

characteristic file Set the press resolution data to be used in the
number job.
5.0.323 SERVO FLOAT MODE RELEASE ERROR
Sub
Code

E1102000106GB02 507
DX100 controller
5.0.324 NO SERVO GUN CONTROL GROUP
Sub
Code

Set the "motor gun axis" in the control group
setting of maintenance mode.
5.0.325 SPOT WELDER NO. ERROR
Sub
Code
Sub Code: Welder Setting error (1)Check the following settings.

number Correct the welder number set in the gun
5.0.326 SPOT WELD COMPLETE TIME LIMIT
Sub
Code

number Turn ON the timer contactor power.
If the response from the timer takes too long
time due to the system layout, increase the
timeout time.
5.0.327 ERROR IN WELD START TIMING SET
Sub
Code

Check the settings for the "WST" tag.
Check the settings for the pressure file.
508 E1102000106GB02
DX100 controller
5.0.328 ERROR IN MOTOR GUN CONT MODE
Sub
Code

5.0.329 ERROR IN MOTOR GUN MODE RELEASE
Sub
Code

5.0.330 SPOT WELD ERROR
Sub
Code

number Check the settings for the timer conductor
where the welding error occurred.
5.0.331 ANTICIPATION CONTROL ERROR
Sub
Code
1 No availability in Setting error (1)Check the following settings.

anticipation control Maximum simultaneous execution number of
anticipation control is five. Correct the settings
for the job so that it is within five.
E1102000106GB02 509
DX100 controller
Sub
Code
2 The anticipation data Software (1)Reset the alarm, and then try again.
exceeded the maximum operation error (2)If the alarm occurs again, save the
length. occurred CMOS.BIN in maintenance mode, and then
5.0.332 ANTICIPATION DISTANCE NOT ENOUGH
Sub
Code

Operate the robot to the start position of the
step where the alarm occurred, and then re-
execute.
5.0.333 DEFECTIVE ANTICIPATION OT FILE
Sub
Code
1 Incorrect setting of OT Setting error (1)Check the following settings.

output number for Check the setting value of OT output number.
anticipation output file
2 Incorrect setting of OG Setting error (1)Check the following settings.

output number for Check the setting value of OG output number.
anticipation output file
5.0.334 CANNOT EXECUTE GUN TYPE
Sub
Code

Check the settings for the motion mode set to
the gun.
510 E1102000106GB02
DX100 controller
5.0.335 STRWAIT TIME LIMIT
Sub
Code

Check the cause such as defective limit switch.
5.0.336 SERVO PG ON ERROR
Sub
Code
Connection (1)Reset the alarm, and then try again.

Each axes encoder cable
5.0.337 MOTOR GUN CHANGE ERROR
Sub
Code
1 A GUNCHG instruction Setting error (1)Check the following settings.

was executed in the Validate the gun change parameter.
system configuration
that did not allow the
gun change function.
2 A GUNCHG/PICK Setting error (1)Check the following settings.

instruction was Execute GUNCHG/PICK instruction when the
executed while the motor gun motor is servo OFF.
motor gun motor was
servo ON.
3 A GUNCHG/PICK Setting error (1)Check the following settings.

instruction was Execute GUNCHG/PICK instruction when the
executed while the ATC ATC is in chuck status.
was in unchuck status.
4 A GUNCHG/PLACE Setting error (1)Check the following settings.

instruction was Execute GUNCHG/PLACE instruction when the
executed while the ATC ATC is in chuck status.
was in unchuck status.
E1102000106GB02 511
DX100 controller
Sub
Code
5 The encoder power Connection (1)Reset the alarm, and then try again.
supply could not be failure (2)If the alarm occurs again, check the
turned ON when connection and inserting state of the following
executing a GUNCHG/ cables and connectors.
PICK instruction. The encoder cable of motor gun
6 The encoder power Connection (1)Reset the alarm, and then try again.
supply could not be failure (2)If the alarm occurs again, check the
turned OFF when connection and inserting state of the following
executing a GUNCHG/ cables and connectors.
PLACE instruction. The encoder cable of motor gun
7 The gun number Setting error (1)Check the following settings.

specified by the Change the gun characteristic file number
GUNCHG instruction specified by GUNCHG instruction to object gun
did not agree with the number.
gun identification signal. Change the gun identification signal so that it
become the objective gun number.
8 The 1st gun axis Setting error (1)Check the following settings.
selection signal is not Check the 1st gun axis selection signal setting.
set when executing the
twin-wrist gun change.
9 The right and left gun Setting error (1)Check the following settings.
axis selection signals Check the setting for the gun axis selection
were duplicated when signal.
executing the twin-wrist
gun change.
10 The control group for Setting error (1)Check the following settings.
gun axis is not set in the Check the settings for the control-group of the
gun change job. job.
11 Multiple robots are not Setting error (1)Check the following settings.
set in the gun change Check the settings for the control-group of the
job. job.
5.0.338 ABRASION BASIS POS UNSETTING
Sub
Code

Resister the reference position of wear
correction.
512 E1102000106GB02
DX100 controller
5.0.339 NO SERVO HAND CONTROL GROUP
Sub
Code

Set the "servo hand axis" in the control group
setting of maintenance mode.
5.0.340 SPEED CTRL MODE SET ERR(SERVO)
Sub
Code

5.0.341 SPEED CTRL MODE CANCEL ERR(SV)
Sub
Code

E1102000106GB02 513
DX100 controller
5.0.342 SVHAND CTRL MODE SET ERR(SERVO)
Sub
Code

5.0.343 SVHND CTRL MODE CANCEL ERR(SV)
Sub
Code

5.0.344 CAN'T DO FIXED FORM CUT MOTION
Sub
Code
1 The setting for radius is Setting error (1)Check the following settings.
incorrect. Setting of the radius data
(1) For a circle, it is
incorrectly set as: radius
0, radius < minimum
radius value, or radius >
maximum radius value.
(2) For an ellipse, it is
incorrectly set as: radius
0, radius < minimum
radius value/2, or radius
> (maximum radius/2 -
width/2).
514 E1102000106GB02
DX100 controller
Sub
Code
2 The setting for width is Setting error (1)Check the following settings.
incorrect. Setting of the width data
(1) For a rectangle, it is
incorrectly set as: width
< 1.0, width > sqrt
(maximum diameter2
height2), or width >
maximum diameter.
(2) It is incorrectly set
as: width < 0, width >
maximum diameter 2 *
radius.
3 The setting for height is Setting error (1)Check the following settings.
incorrect. Setting of the height data
incorrectly set as: height
> maximum diameter,
height < minimum
diameter/2, or height >
sqrt (maximum
diameter2 - width2).
4 The setting for the Setting error (1)Check the following settings.
corner radius is Setting of the corner radius
incorrect.
incorrectly set as:
corner radius > width/2
or corner radius >
height/2.
5 The setting for overlap Setting error (1)Check the following settings.
is incorrect. Setting of the overlap data
incorrectly set as
overlap > width/2.
(2) For a circle, it is
incorrectly set as
overlap > ABS (2 *
radius).
(3) For an ellipse, it is
incorrectly set as
overlap > * radius
+ABS (width/2).
6 The setting for the Setting error (1)Check the following settings.
cutting speed is Setting of the cutting speed
incorrect. It is set as the
cutting speed >
maximum linear speed.
7 Coordinated motion Setting error (1)Check the following settings.

cannot be used with the Do not use the coordinated motion.
Form Cutting motion.
E1102000106GB02 515
DX100 controller
Sub
Code

is set in the minimum The setting of the minimum diameter parameter
diameter parameter (S1CxG063) for the Form Cutting motion.
(S1CxG063) for the

is set in the maximum The setting of the maximum diameter
diameter parameter parameter (S1CxG063) for the Form Cutting
(S1CxG064) for the motion.
10 Although Setting error (1)Check the following settings.

"PLACEMENT" or Execute the FORMAPR instruction.
"AUTO" is set for the
start point designation
on the FORM CUT
SETTING window, the
FORMAPR instruction
was not executed.
11 The Cut file setting of Setting error (1)Check the following settings.
the FORMAPR The Cut file settings of FORMAPR and
instruction is different FORMCUT instructions must be same.
from that of the
FORMCUT instruction.
12 A FORMAPR instruction Setting error (1)Check the following settings.

was used for the The FORMAPR instruction cannot be used for
conventional the conventional FORMCUT instruction.
FORMCUT instruction. Validate the new FORMCUT instruction.
13 A form other than a Setting error (1)Check the following settings.

circle, rectangle, and A form other than a circle, rectangle, and ellipse
ellipse was designated cannot be designated for the conventional
for the conventional FORMCUT instruction.
FORMCUT instruction. Validate the new FORMCUT instruction.
90 The radius data setting Setting error (1)Check the following settings.
for special circular Setting of the radius data
interpolation is incorrect.
It is incorrectly set as
the radius 0.
91 The arc center Setting error (1)Check the following settings.

coordinates could not Setting of the teaching
be calculated at special
circular interpolation.
Incorrect teaching may
be the cause.
93 The averaging time at Setting error (1)Check the following settings.

special circular Moving distance
interpolation motion is Motion speed
too short.
516 E1102000106GB02
DX100 controller
Sub
Code
94 Because the designated Setting error (1)Check the following settings.

plane included Setting of the reference point 2
reference points at
special circular
interpolation motion, the
arc center coordinates
could not be calculated.
Incorrect teaching of the
reference point 2 may
be the cause.
100 The arc center position Setting error (1)Check the following settings.
is not set for the special Check the settings for the reference point 1 as
circular interpolation the arc center position.
motion.
5.0.345 FORMCUT ERROR
Sub
Code
1 An attempt was made to Execute (1)Check the following settings.

re-execute the condition failure Re-execute the move instruction executed
FORMCUT instruction before the FORMCUT instruction, and then
after interrupting it. execute the FORMCUT instruction again.
5.0.346 OFFLINE POSITION DATA CONVERT ERROR
Sub
Code
1 Incorrect information of Software (1)Reset the alarm, and then try again.
reference position data operation error (2)If the alarm occurs again, save the
for offline position data occurred CMOS.BIN in maintenance mode, and then
conversion contact your MOTOMAN representative about
2 Incorrect user- Software (1)Reset the alarm, and then try again.
coordinate number operation error (2)If the alarm occurs again, save the
designation in the occurred CMOS.BIN in maintenance mode, and then
standard position data contact your MOTOMAN representative about
for offline position data occurrence status (operating procedure).
conversion
E1102000106GB02 517
DX100 controller
Sub
Code
3 Incorrect reference- Software (1)Reset the alarm, and then try again.
point data for offline operation error (2)If the alarm occurs again, save the
position data conversion occurred CMOS.BIN in maintenance mode, and then
4 The standard position Setting error (1)Check the following settings.

data for offline position The variable position may be out of the robot
data conversion could motion range. Check if the variable position is
not correctly be within the robot motion range.
calculated.
5 Incorrect pulse Software (1)Reset the alarm, and then try again.
incremental value for operation error (2)If the alarm occurs again, save the
offline position data occurred CMOS.BIN in maintenance mode, and then
6 The position data could Software (1)Reset the alarm, and then try again.
not correctly be added operation error (2)If the alarm occurs again, save the
by the pulse incremental occurred CMOS.BIN in maintenance mode, and then
value at the offline contact your MOTOMAN representative about
position data occurrence status (operating procedure).
conversion.
7 Incorrect Cartesian Software (1)Reset the alarm, and then try again.
incremental value for operation error (2)If the alarm occurs again, save the
offline position data occurred CMOS.BIN in maintenance mode, and then
8 The position data could Setting error (1)Check the following settings.
not correctly be added The variable position may be out of the robot
by the Cartesian motion range. Check if the variable position is
incremental value at the within the robot motion range.
offline position data
conversion.
9 The position conversion Software (1)Reset the alarm, and then try again.
could not be done in the operation error (2)If the alarm occurs again, save the
designated coordinate occurred CMOS.BIN in maintenance mode, and then
system at the offline contact your MOTOMAN representative about
conversion.
10 Incorrect incremental Software (1)Reset the alarm, and then try again.
value of angle for offline operation error (2)If the alarm occurs again, save the
position data conversion occurred CMOS.BIN in maintenance mode, and then
11 The position data could Software (1)Reset the alarm, and then try again.
not correctly be added operation error (2)If the alarm occurs again, save the
by the incremental value occurred CMOS.BIN in maintenance mode, and then
of angle at the offline contact your MOTOMAN representative about
conversion.
518 E1102000106GB02
DX100 controller
Sub
Code
12 The reverse shift value Software (1)Reset the alarm, and then try again.
for 3D shifting could not operation error (2)If the alarm occurs again, save the
correctly be calculated occurred CMOS.BIN in maintenance mode, and then
at the offline position contact your MOTOMAN representative about
data conversion. occurrence status (operating procedure).
for 3D shifting could not operation error (2)If the alarm occurs again, save the
correctly be added at occurred CMOS.BIN in maintenance mode, and then
the offline position data contact your MOTOMAN representative about
conversion. occurrence status (operating procedure).
could not correctly be operation error (2)If the alarm occurs again, save the
calculated at the offline occurred CMOS.BIN in maintenance mode, and then
position data contact your MOTOMAN representative about
calculated at the offline occurred CMOS.BIN in maintenance mode, and then
16 The 3D shifting value Software (1)Reset the alarm, and then try again.
added at the offline occurred CMOS.BIN in maintenance mode, and then
17 The shift value could not Software (1)Reset the alarm, and then try again.
correctly be added at operation error (2)If the alarm occurs again, save the
the offline position data occurred CMOS.BIN in maintenance mode, and then
conversion. contact your MOTOMAN representative about
18 No reference point is Software (1)Reset the alarm, and then try again.
specified for the offline operation error (2)If the alarm occurs again, save the
position data occurred CMOS.BIN in maintenance mode, and then
conversion. contact your MOTOMAN representative about
19 The positions for the Software (1)Reset the alarm, and then try again.
mirror shift function operation error (2)If the alarm occurs again, save the
could not correctly be occurred CMOS.BIN in maintenance mode, and then
calculated at the offline contact your MOTOMAN representative about
conversion.
20 The positions could not Setting error (1)Check the following settings.
correctly be converted The variable position may be out of the robot
for the mirror shift motion range. Check if the variable position is
function at the offline within the robot motion range.
position data
conversion.
E1102000106GB02 519
DX100 controller
Sub
Code
21 The expansion positions Setting error (1)Check the following settings.

for the mirror shift The variable position may be out of the robot
function could not motion range. Check if the variable position is
correctly be converted within the robot motion range.
at the offline position
data conversion.
coordinates for a new operation error (2)If the alarm occurs again, save the
mirror-shift conversion occurred CMOS.BIN in maintenance mode, and then
function at the offline contact your MOTOMAN representative about
position data conversion occurrence status (operating procedure).
5.0.347 PAINTOUT ERROR
Sub
Code
1 The parameter setting Setting error (1)Check the following settings.

for the universal input Check the settings for the AxP011.
group number is
incorrect.
5.0.348 SERVO COMMAND ERROR
Sub
Code
An attempt was made to Software (1)Reset the alarm, and then try again.
issue the command operation error (2)If the alarm occurs again, save the
while the servo control occurred CMOS.BIN in maintenance mode, and then
processing has not contact your MOTOMAN representative about
completed. occurrence status (operating procedure).
Sub Code: Servo CPU
bit number
520 E1102000106GB02
DX100 controller
5.0.349 WIRE STICKING
Sub
Code

number Remove the cause of wire stick.
5.0.350 SPECIFIED ERR(ABSO RECOVER AXIS)
Sub
Code

Registration for the home position correction
data.
5.0.351 SETTOOL ERROR
Sub
Code
1 The difference between Setting error (1)Check the following settings.

the current tool constant Correct the job so that the setting value of tag is
and a new set value allowable value.
exceeded the allowable Set the allowance amount of the tool data
range (parameter set automatic setting function maximum deviation
value). (S3C900) to large value.
5.0.352 LACK OF GLOBAL VARIABLE AREA
Sub
Code

E1102000106GB02 521
DX100 controller
5.0.353 WRONG EXECUTION OF MACRO INST
Sub
Code
1 The execution macro Setting error (1)Check the following settings.

job is not set. Check the settings for execution macro job.
2 The interrupt macro job Setting error (1)Check the following settings.
is not set. Check the settings for interrupt macro job.

start the job that could Check the settings for macro job.
not be started by the
macro instruction.
5 An error occurred in the Software (1)Reset the alarm, and then try again.
operation process of job operation error (2)If the alarm occurs again, save the
call stack when the occurred CMOS.BIN in maintenance mode, and then
execution of macro contact your MOTOMAN representative about
instruction was occurrence status (operating procedure).
cancelled.
6 Incorrect macro number Software (1)Reset the alarm, and then try again.
5.0.354 WRONG EXECUTION OF GETARG INST
Sub
Code
1 The job argument is not Setting error (1)Check the following settings.
set. Check the settings for jobs.
2 No number of the Setting error (1)Check the following settings.

specified job argument Check the settings for jobs.
3 The data types of job Setting error (1)Check the following settings.
argument disagreed. Check the settings for jobs.
522 E1102000106GB02
DX100 controller
5.0.355 MEMOPLAY ERROR
Sub
Code
2 The memory play file Setting error (1)Check the following settings.
was being used in Check the setting of the used memory play file
another system. number.
5 The control group in the Setting error (1)Check the following settings.
memory play file did not Check the control group setting of the used
agree with the control memory play file.
group of execution job.

clear the memory play Execute the MEMOF instruction, and then
file by a CLEAR execute the CLEAR instruction.
instruction before
having executed a
MEMOF instruction.
5.0.356 MEMOPLAY SAMPLING ERROR
Sub
Code
1 Failed to read the Software (1)Reset the alarm, and then try again.
memory play sampling operation error (2)If the alarm occurs again, save the
data. occurred CMOS.BIN in maintenance mode, and then
2 Failed to write the Software (1)Reset the alarm, and then try again.
3 Failed to seek the Software (1)Reset the alarm, and then try again.
4 Failed to read the Software (1)Reset the alarm, and then try again.
memory play file. operation error (2)If the alarm occurs again, save the
5 Incorrect mode setting Setting error (1)Check the following settings.

at memory play Check the settings for the memory play mode.
sampling
E1102000106GB02 523
DX100 controller
Sub
Code
the control group at operation error (2)If the alarm occurs again, save the
memory play sampling occurred CMOS.BIN in maintenance mode, and then
7 Designation of the Setting error (1)Check the following settings.

control group in the Check the number of the memory play file for
memory play file did not use.
agree with the
designation of the
control
group at MEMON
instruction execution
(when the start point
was specified).
8 Designation of the Setting error (1)Check the following settings.

agree with the
designation of the
control group at
MEMON instruction
execution (at
initialization).
9 designation of the Setting error (1)Check the following settings.

agree with the
designation of the
control
group at MEMON
instruction execution (at
continue).
10 It started reproducing Setting error (1)Check the following settings.

though it did not record. Record and then play.
11 Correction amount to Setting error (1)Check the following settings.

record is out of the Correct the position of object workpieces so
allowable range. that the correction amount fall within allowable
range.
12 The number of recorded Setting error (1)Check the following settings.

correction-amount Correct the job so that the movement section of
exceeded the limit. memory play object is shorter.
13 Memoplay file Create Software (1)Reset the alarm, and then try again.
error (REC) operation error (2)If the alarm occurs again, save the
524 E1102000106GB02
DX100 controller
Sub
Code
14 Memoplay debug error Software (1)Reset the alarm, and then try again.
C_BANK.func_ctrl operation error (2)If the alarm occurs again, save the
(initial) occurred CMOS.BIN in maintenance mode, and then
C_BANK.func_ctrl operation error (2)If the alarm occurs again, save the
(continue) occurred CMOS.BIN in maintenance mode, and then
C_BANK operation error (2)If the alarm occurs again, save the
RT_BANK.func_ctrl occurred CMOS.BIN in maintenance mode, and then
(continue) contact your MOTOMAN representative about
MOVL, MOVC operation error (2)If the alarm occurs again, save the
(continue) occurred CMOS.BIN in maintenance mode, and then
Same point, moving operation error (2)If the alarm occurs again, save the
amount is zero occurred CMOS.BIN in maintenance mode, and then
(continue) contact your MOTOMAN representative about
Dividing number error operation error (2)If the alarm occurs again, save the
5.0.357 OVER OPTON INST EXECUTION LIMIT
Sub
Code

Check the settings for the OPTON instruction.
OPTON instruction can use only the function to
five simultaneously.
E1102000106GB02 525
DX100 controller
5.0.358 TSYNC ERROR
Sub
Code
Sub code: the number Setting error (1)Check the following settings.
of synchronizations of Check the settings for the number of
the first executed synchronizations of the TSYNC instruction.
TSYNC
5.0.359 SERVO SEALER GUN CONTROL ERROR
Sub
Code
1 The function Setting error (1)Check the following settings.

designation parameter Check the settings for the function designation
is not set. parameter.
2 No sealer gun axis Setting error (1)Check the following settings.

exists at the job for Check the settings for the control-group of the
which the sealer gun job.
control was attempted
to be executed.
3 No robot axis exists at Setting error (1)Check the following settings.

the job at which an Check the settings for the control-group of the
attempt was made to job.
execute sealer gun
control.
4 Incorrect designation of Setting error (1)Check the following settings.

the control method for Set either "1" or "2" for PRM1 control method
sealer gun control designation of the OPTON instruction.

the control method for If "1" is set for PRM1 of the OPTON instruction,
sealer gun control set the PRM2 needle position designation to a
value between 0 and 100.

the sealing width for If "2" is set for PRM1 of the OPTON instruction,
sealer gun control set PRM2 sealing width designation to a value
between 0 and 30.
526 E1102000106GB02
DX100 controller
5.0.360 UNDEFINED SEALERGUN COND FILE
Sub
Code

Check the settings for servo sealer gun
condition file.
5.0.361 I/O AXIS OPERATING
Sub
Code
An attempt was made to Setting error (1)Check the following settings.

command a job whose Does not the I/O axis motion executed for the
control group was in I/O control group that executing the job
axis motion. Does not the job executed for the control group
that operating by the I/O axis motion
The control group where the I/O axis is
operating cannot execute the job. Moreover, the
I/O axis motion cannot perform for the control
group where the job is executing.
5.0.362 AXIS SHIFT ERROR
Sub
Code
1 The file could not be Software (1)Reset the alarm, and then try again.
switched because of operation error (2)If the alarm occurs again, save the
incorrect start point occurred CMOS.BIN in maintenance mode, and then
designation. contact your MOTOMAN representative about
2 The control group with Software (1)Reset the alarm, and then try again.
which the axis shifting is operation error (2)If the alarm occurs again, save the
performed disagrees occurred CMOS.BIN in maintenance mode, and then
with the control group contact your MOTOMAN representative about
set for the axis shifting occurrence status (operating procedure).
function in the
calibration file.
E1102000106GB02 527
DX100 controller
Sub
Code
3 The calibration file Setting error (1)Check the following settings.

number for axis shifting Correct the settings for the OPTON instruction
function is out of the tag so that value of the file number specification
applicable range. is 1 to 32.
5.0.363 S/U IMPOSSIBLE MOVE (L/R POS)
Sub
Code
1 For the CSL15D robot, Setting error (1)Check the following settings.
the motion speed of S- Reduce the teaching speed of S- and U-axes.
and U-axes exceeded Teach the positions of L- and R-axes again so
the upper limit. that S- and U-axes can move.
2 For the CSL15D robot, Setting error (1)Check the following settings.
S- and U-axes were Teach the positions of L- and R-axes again so
going to move that S- and U-axes can move.
regardless of the limit
speed "0" when the
positions of L- and R-
axes exceeded the
upper limit.
5.0.364 SHIFT INST EXECUTE ERROR
Sub
Code
1 For the tool shift with Setting error (1)Check the following settings.
Euler angle +-90 Check if the shift value is setting for Y-axis only.
degrees, the shift value
for axes other than Y-
axis is set.
528 E1102000106GB02
DX100 controller
5.0.365 UNDEFINED JOB ENTRY TABLE
Sub
Code
Sub Code: Designated Setting error (1)Check the following settings.

registration number Check the settings for the job registration table.
5.0.366 ARM (TOOL) INTERFERENCE
Sub
Code
Sub Code: Bit Setting error (1)Check the following settings.

specification of Check the teaching position setting of robots.
interfered axis
5.0.367 WELD COMPLETE SIGNAL ERROR
Sub
Code

number Check the settings for welding completion
signal.
5.0.368 SELF-INTERFERENCE
Sub
Code
Sub Code: robot Setting error (1)Check the following settings.

number Check the teaching position setting of robots.
E1102000106GB02 529
DX100 controller
5.0.369 WRONG EXECUTION OF GETPOS INST
Sub
Code

obtain the step that Check the settings for the GETPOS instruction.
used a local position
type variable. (The step
with local position type
variable cannot be
fetched. Example:
MOVJ LP000 VJ=25.00)

obtain the step that Check the settings for the GETPOS instruction.
used a local position
type variable. (The step
with local position type
variable cannot be
fetched. Example:
MOVJ LP000 VJ=25.00)
3 The specified step did Setting error (1)Check the following settings.
not exist. Check the settings for the GETPOS instruction.
5.0.370 PLUG VOLUME SETTING ERROR
Sub
Code

Check the setting for the amount of fillings.
5.0.371 WRONG EXECUTION OF LOADDB INST
Sub
Code
1 No file Software (1)Reset the alarm, and then try again.

530 E1102000106GB02
DX100 controller
Sub
Code
2 No directory Software (1)Reset the alarm, and then try again.

4 There was no directory Software (1)Reset the alarm, and then try again.
entry after this point. operation error (2)If the alarm occurs again, save the
-1 No file name Software (1)Reset the alarm, and then try again.
-2 File presence error Software (1)Reset the alarm, and then try again.
-3 Incorrect file name Software (1)Reset the alarm, and then try again.
-4 The disk is full. Software (1)Reset the alarm, and then try again.
-5 The directory is full. Software (1)Reset the alarm, and then try again.
-6 I/O error Software (1)Reset the alarm, and then try again.
-7 Invalid handle Software (1)Reset the alarm, and then try again.
-8 Handle overflow Software (1)Reset the alarm, and then try again.
E1102000106GB02 531
DX100 controller
Sub
Code
-9 File has already been Software (1)Reset the alarm, and then try again.
opened. operation error (2)If the alarm occurs again, save the
-10 File attribute error Software (1)Reset the alarm, and then try again.
-11 Open mode error Software (1)Reset the alarm, and then try again.
-12 The hardware disk with Software (1)Reset the alarm, and then try again.
large capacity is used. operation error (2)If the alarm occurs again, save the
-14 The door is open. Software (1)Reset the alarm, and then try again.
-15 The disk is write- Software (1)Reset the alarm, and then try again.
protected. operation error (2)If the alarm occurs again, save the
-30 Card controller access Software (1)Reset the alarm, and then try again.
-31 No card Software (1)Reset the alarm, and then try again.
-32 Card drive information Software (1)Reset the alarm, and then try again.
readout error operation error (2)If the alarm occurs again, save the
-33 Partition table error Software (1)Reset the alarm, and then try again.
532 E1102000106GB02
DX100 controller
Sub
Code
-34 No drive number Software (1)Reset the alarm, and then try again.
-35 No specified partition Software (1)Reset the alarm, and then try again.
-36 Cluster size error Software (1)Reset the alarm, and then try again.
-37 Incorrect number of Software (1)Reset the alarm, and then try again.
sectors operation error (2)If the alarm occurs again, save the
-38 Sector/byte error Software (1)Reset the alarm, and then try again.
-40 Card not applicable for I/ Software (1)Reset the alarm, and then try again.
O operation error (2)If the alarm occurs again, save the
-41 Unsupported version Software (1)Reset the alarm, and then try again.
-42 The setting register did Software (1)Reset the alarm, and then try again.
not exist. operation error (2)If the alarm occurs again, save the
-43 Card not applicable for Software (1)Reset the alarm, and then try again.
ATA operation error (2)If the alarm occurs again, save the
-44 Double chain error Software (1)Reset the alarm, and then try again.
E1102000106GB02 533
DX100 controller
Sub
Code
-45 Media error (not fixed Software (1)Reset the alarm, and then try again.
disk) operation error (2)If the alarm occurs again, save the
-50 ATA command Software (1)Reset the alarm, and then try again.
incomplete operation error (2)If the alarm occurs again, save the
-51 Sector read command Software (1)Reset the alarm, and then try again.
-52 Sector write command Software (1)Reset the alarm, and then try again.
5.0.372 IMPOSSIBLE S-AXIS MOV (IN SPHERE)
Sub
Code

Check the settings for the limit distance for S-
axis rotation center motion (S1CG067).
5.0.373 GUN RECOGNITION SIGNAL OFF
Sub
Code
Sub Code: Gun number Setting error (1)Check the following settings.
Check the settings for the gun identification
signal.
534 E1102000106GB02
DX100 controller
5.0.374 WRITE VARIABLE NO. MULTI SETTING
Sub
Code
Sub Code: Duplicated Setting error (1)Check the following settings.

variable number Check the settings for the written destination
variable numbers.
5.0.375 GROUP CHANGE ERROR
Sub
Code
1 The group change Setting error (1)Check the following settings.

parameter was invalid. Validate the group change parameter.
2 The GRPCHG Setting error (1)Check the following settings.

instruction was Execute the GRPCHG instruction when the
executed while the external axis motor was servo OFF.
external axis motor was
servo ON.
3 The GRPCHG Setting error (1)Check the following settings.

instruction was Execute the GRPCHG instruction in chuck
executed in unchuck status.
status.
4 The group identification Setting error (1)Check the following settings.

signal was not received. Check the settings for group identification
signal.
5 The specified control Setting error (1)Check the following settings.

group number and the Check the settings for the specified control
group identification group number.
number were
unmatched.
6 The encoder PG power Setting error (1)Check the following settings.

supply was OFF when Turn ON the encoder PG power supply when
the GRPCHG was ON. GRPCHG is ON.
7 The encoder PG power Setting error (1)Check the following settings.

supply was ON when Turn OFF the encoder PG power supply when
the GRPCHG was OFF. GRPCHG is OFF.
8 The control group that Setting error (1)Check the following settings.
corresponded to the Check the settings for group identification
received group signal.
identification signal did
not exist.
E1102000106GB02 535
DX100 controller
5.0.376 DUPLICATED GUN NUMBER
Sub
Code
Sub Code: The Setting error (1)Check the following settings.

overlapped gun number Check the settings for gun numbers.
5.0.377 DEFECTIVE OPERATION VELOCITY
Sub
Code

group and axis Check if the speed is hold down by the speed
override and special operations etc.
5.0.378 UNDEFINED LNR SCALE FILE
Sub
Code
Sub Code: Linear scale Setting error (1)Check the following settings.
characteristic file Complete the settings for the linear scale
number condition file.
5.0.379 FOLLOWING ERROR
Sub
Code
1 An error occurred when Setting error (1)Check the following settings.

executing a FOLLOW Re-execute the move instruction executed
instruction. before the FOLLOW instruction, and then
An attempt was made to execute the FOLLOW instruction again.
re-execute the
FOLLOW instruction
after interrupting it.
536 E1102000106GB02
DX100 controller
5.0.380 FOLLOWING SPEED OVER
Sub
Code

Reduce the bending speed.
Reduce the robot moving distance.
5.0.381 CANNOT EXECUTE COMMON JOB
Sub
Code
Sub Code: The related Setting error (1)Check the following settings.
control-group Check the settings for control group specified
by the CALL instruction.
5.0.382 THICKNESS ERROR
Sub
Code
Sub code: Gun number Setting error (1)Check the following settings.
Weld the spot by thickness within allowable
range.
5.0.383 TRACK CHG WORK IN/NOT NOT FOUND
Sub
Code

characteristic file Check the workpiece presence/absence and
number data settings for the synchronization section.
E1102000106GB02 537
DX100 controller
5.0.384 TRACKING CHG WORK ID NOT FOUND
Sub
Code

characteristic file Check the workpiece presence/absence and
number data settings for the synchronization section.
5.0.385 SYMOVJ INST EXECUTE ERROR
Sub
Code
2 The conveyor moving Setting error (1)Check the following settings.

amount is not specified Set the conveyor moving amount for the
for the SYMOVJ motion. SYMOVJ motion.
preparation process of operation error (2)If the alarm occurs again, save the
the robot motion start occurred CMOS.BIN in maintenance mode, and then
position for the contact your MOTOMAN representative about
SYMOVJ motion. occurrence status (operating procedure).
preparation process of operation error (2)If the alarm occurs again, save the
the robot motion end occurred CMOS.BIN in maintenance mode, and then
position for the contact your MOTOMAN representative about
SYMOVJ motion. occurrence status (operating procedure).
5.0.386 WRONG EXECUTION OF PSTART INST
Sub
Code
1 No axis data of control Setting error (1)Check the following settings.

group to be Check the settings for PSTART instruction.
disconnected

disconnect a control Check the settings for PSTART instruction.
group other than the
occupation control
group during prereading
processing.
538 E1102000106GB02
DX100 controller
Sub
Code

disconnect a control Check the settings for PSTART instruction.
group other than the
occupation control
group when executing a
PSTART instruction.
5.0.387 CANNOT EXECUTE JOB (SEPARATE GRP)
Sub
Code
Sub Code: The Setting error (1)Check the following settings.

disconnected control Correct the teaching so that the control group
group used by a move disconnected by itself is not to operate for move
instruction instruction of own system.
5.0.388 SPOT WELDER I/F ERROR(ASW)
Sub
Code
8 The controller could not Connection (1)Reset the alarm.

send an instruction to failure (2)If the alarm occurs again, check the
the welder because the connection and inserting state of the following
welder was busy in cables and connectors.
processing. DENGENSHA welding I/F board
NADEX DeviceNet cable
9 Welding current error at Software (1)Reset the alarm, and then try again.
welding is completed operation error (2)If the alarm occurs again, save the
successfully. occurred CMOS.BIN in maintenance mode, and then
10 Abnormal code error at Software (1)Reset the alarm, and then try again.
welding is completed operation error (2)If the alarm occurs again, save the
successfully. occurred CMOS.BIN in maintenance mode, and then
11 Welding command Software (1)Reset the alarm, and then try again.
process exceptional operation error (2)If the alarm occurs again, save the
E1102000106GB02 539
DX100 controller
Sub
Code
102 The specified welder Setting error (1)Check the following settings.
number (system) could Confirm the specified welder number (system)
not be found. and the setting.
5.0.389 NOT PERMIT FIXED-WEAV ON SWVON
Sub
Code

Check the settings for jobs.
5.0.390 TRQ CLEAR ERROR
Sub
Code

5.0.391 PALLETIZING EXECUTE ERROR
Sub
Code
1 The setting of the Setting error (1)Check the following settings.

palletizing condition Set the palletizing condition setting file to
configuration file is "Completed."
incomplete.
4 Palletize completion Setting error (1)Check the following settings.

universal output number Change the palletize completion universal
range exceeds the limit. output signal number of the palletizing condition
setting file in the user output signal point of
contact number.
540 E1102000106GB02
DX100 controller
Sub
Code
5 During the palletize start Setting error (1)Check the following settings.
instruction execution, Delete the palletize start instruction in the
the palletize start palletize section.
instruction is executed
again (double
execution).
6 The value of the Setting error (1)Check the following settings.

palletizing number Check if the palletizing number of current
present value output position output register (or I variable) and total
register (or I variable) is number of output register (or I variable) is not
more than the total changed by another function.
number output register
(or I variable).
7 Palletize completion Setting error (1)Check the following settings.

universal output signal Reset the palletize completion universal output
is turned ON at palletize signal.
start instruction
execution.
8 Palletize end instruction Setting error (1)Check the following settings.

is not registered. Register the palletizing end instruction.
5.0.392 TRQ MEASURE MODE SET ERROR (SV)
Sub
Code

5.0.393 TRQ MEASURE MODE CANCEL ERR(SV)
Sub
Code

E1102000106GB02 541
DX100 controller
5.0.394 WRONG EXECUTION OF SETREG INST
Sub
Code

change the value of the The SETREGM instruction cannot change the
register currently used register values used in TMR/CNT. Correct the
by TMR/CNT. setting of tag that specifies register number of
SETREG instruction.
5.0.395 WRONG EXECUTION OF GETREG INST
Sub
Code
acquire the value of the operation error (2)If the alarm occurs again, save the
register not existing. occurred CMOS.BIN in maintenance mode, and then
5.0.396 WRONG EXECUTION OF SETPRM INST
Sub
Code

change a parameter The SETPRM instruction cannot change the
other than the cube- parameter values other than the parameter
related parameter. related to the cube. Correct the setting of tag
that specifies parameter number of SETPRM
instruction.
2 The SETPRM Setting error (1)Check the following settings.

instruction was The SETPRM instruction cannot execute while
executed while another another system is operating. Correct the job.
system was in
execution.
542 E1102000106GB02
DX100 controller
5.0.397 WVADJ ERROR
Sub
Code
1 The correction Setting error (1)Check the following settings.

amplitude value did not Correct the settings for "groove width correction
fall in the limit range. limit value" specified for S2C1259 and 1260.
5.0.398 OVER SPEED LIMIT
Sub
Code
1 The taught speed was Setting error (1)Check the following settings.
going to exceed the limit Reduce the teaching speed of the step where
during the multi arm the alarm occurred to the speed limit or less.
simultaneous operation.
5.0.399 TIP DRESS WATCH CANCEL ERROR
Sub
Code

E1102000106GB02 543
DX100 controller
5.0.400 MEMORY ERROR (PRESS COND FILE)
Sub
Code

(2)If the alarm occurs again, initialize the press
characteristic file in maintenance mode, and
then load the press characteristic file saved in

board.

occurred.
5.0.401 PRESS SYNC ERROR
Sub
Code
5.0.402 PRESS SYNC MOTION ERROR
Sub
Code
544 E1102000106GB02
DX100 controller
5.0.403 UNDEFINED WELD LENGTH CHECK FILE
Sub
Code
5.0.404 INSUFFICIENT NUM OF SAMPLE DATA
Sub
Code
Sub Code: Signifies the Setting error Lengthen the measurement section.
occurred
5.0.405 SAMPLE BUFFER OVER FLOW
Sub
Code
Sub Code: Signifies the Setting error Shorten the measurement section.
occurred
5.0.406 BASIC SPEED UNREACHED
Sub
Code
Sub Code: Signifies the Setting error Increase the speed specification value of a
axis in which the alarm measurement job or set a small value for
occurred BASICV.
Or set a small value for BASICT, or lengthen the
measurement section.
E1102000106GB02 545
DX100 controller
5.0.407 MAX TRQ UNDETECTED
Sub
Code
Sub Code: Signifies the Setting error Set a large value for the BASICT, and then
axis in which the alarm check again.
occurred
5.0.408 ERRSVCPU SIGNAL ERROR
Sub
Code

CN210 YSU unit
5.0.409 BROKEN FAN FUSE
Sub
Code

failure (2)If the alarm occurs again, check if there is a
ground fault or short circuit in the fan power line.
Fuse failure (After cancellation of the short-circuit and

ground fault) Replace the fuse.
546 E1102000106GB02
DX100 controller
5.0.410 IMPOSSIBLE LINEAR MOTION
Sub
Code

group and axis If the sub code display is L- and U-axes,
perform the teaching again to make the form
(arm folded direction) of L- and U-axes same at
start point and end point.
If the sub code display is S- and L-axes,
perform the teaching again to make the form
(arm folded direction) of S- and L-axes same at
start point and end point.
Change the teaching move instruction to MOVJ
instruction.
5.0.411 SAFETY UNIT COMMAND ERROR
Sub
Code
5.0.412 CUBE ARM INTERFERENCE
Sub
Code
Sub Code: Interference Setting error (1)Check the following settings.

cubic area number Check the teaching position setting of robots.
E1102000106GB02 547
DX100 controller
5.0.413 MOTION RANGE LIMIT INTERFERENCE
Sub
Code
Sub Code: robot Setting error (1)Check the following settings.

number Check the teaching position setting of robots.
5.0.414 AXIS MOTION RANGE LIMIT OVER(MIN./MAX.)
Sub
Code

group and axis Check the teaching position setting of robots.
5.0.415 INTERPOLATION INVALID
Sub
Code

group At the cartesian jog operation, switch to each-
axes jog operations, and then change the
orientation of robot.
Change the teaching position and orientation.
5.0.416 WRITE ERROR(SAFETY)
Sub
Code
548 E1102000106GB02
DX100 controller
5.0.417 DATA SETTING ERROR(SAFETY)
Sub
Code
5.0.418 OPERATION AREA MON. ERR 2(AXIS)
Sub
Code
5.0.419 OPERATION MODE ERROR(AXIS)
Sub
Code
5.0.420 OPERATION AREA MON. ERR 2(ROBOT)
Sub
Code
E1102000106GB02 549
DX100 controller
5.0.421 OPERATION MODE ERROR(ROBOT)
Sub
Code
5.0.422 OPERATION AREA SET ERR(SAFETY)
Sub
Code
5.0.423 ENCODER BACKUP ERROR(SAFETY)
Sub
Code
5.0.424 READBACK PROC. ERROR(SAFETY)
Sub
Code
550 E1102000106GB02
DX100 controller
5.0.425 SPEED MONITOR ERROR 1(SAFETY)
Sub
Code
5.0.426 SPEED MONITOR ERROR 2(SAFETY)
Sub
Code
5.0.427 TURN TABLE CALIBRATION ERROR
Sub
Code
1 There was the same Setting error (1)Check the following settings.
point in three points Correct the calibration position so that each
where the calibration point is different.
had been executed.
2 The three points where Setting error (1)Check the following settings.
the calibration had been Check the calibration position so that the three
executed lie in a straight taught points are not aligned in a straight line.
line.
3 The three points where Setting error (1)Check the following settings.
the calibration had been Check the calibration position so that the three
executed lie in a straight taught points are not aligned in a straight line.
line.
E1102000106GB02 551
DX100 controller
5.0.428 OFFLINE ARM BEND POS CONVERT ERROR
Sub
Code
1 Incorrect information of Software (1)Reset the alarm, and then try again.
standard position data operation error (2)If the alarm occurs again, save the
for offline arm bend occurred CMOS.BIN in maintenance mode, and then
position data conversion contact your MOTOMAN representative about
2 Incorrect user- Software (1)Reset the alarm, and then try again.
coordinate number in operation error (2)If the alarm occurs again, save the
the standard position occurred CMOS.BIN in maintenance mode, and then
data for offline arm bend contact your MOTOMAN representative about
position data conversion occurrence status (operating procedure).
3 Incorrect reference- Software (1)Reset the alarm, and then try again.
point data offline arm operation error (2)If the alarm occurs again, save the
bend position data occurred CMOS.BIN in maintenance mode, and then
not be converted The variable position may be out of the robot
correctly/conversely for motion range. Check if the variable position is
the standard position within the robot motion range.
data at the offline arm
bend position data
conversion.
5 Incorrect pulse Setting error (1)Check the following settings.

incremental value for The variable position may be out of the robot
offline arm bend motion range. Check if the variable position is
position data conversion within the robot motion range.
correctly for the pulse motion range. Check if the variable position is
incremental value at the within the robot motion range.
offline arm bend
position data
conversion.
7 Incorrect Cartesian Setting error (1)Check the following settings.

incremental value for The variable position may be out of the robot
offline arm bend motion range. Check if the variable position is
position data conversion within the robot motion range.
correctly for the motion range. Check if the variable position is
Cartesian incremental within the robot motion range.
value at the offline arm
bend position data
conversion.
552 E1102000106GB02
DX100 controller
Sub
Code
9 The position conversion Setting error (1)Check the following settings.

could not be done in the The variable position may be out of the robot
conversion data for motion range. Check if the variable position is
offline arm bend within the robot motion range.
position data
conversion.
10 Incorrect incremental Setting error (1)Check the following settings.

value of angle for offline The variable position may be out of the robot
arm bend position data motion range. Check if the variable position is
conversion within the robot motion range.
correctly for the motion range. Check if the variable position is
incremental value of within the robot motion range.
angle at the offline arm
bend position data
conversion.
12 The gravity moment for Setting error (1)Check the following settings.
offline arm bend The variable position may be out of the robot
position data conversion motion range. Check if the variable position is
could not be calculated. within the robot motion range.
correctly for the revised motion range. Check if the variable position is
conversion data at the within the robot motion range.
offline arm bend
position data
conversion.
5.0.429 SHIFT VALUE MAKING ERROR
Sub
Code
1 Reference position and Software (1)Reset the alarm, and then try again.
target position operation error (2)If the alarm occurs again, save the
occupation control- occurred CMOS.BIN in maintenance mode, and then
group error contact your MOTOMAN representative about
2 Reference position and Software (1)Reset the alarm, and then try again.
target position enabling operation error (2)If the alarm occurs again, save the
control-group error occurred CMOS.BIN in maintenance mode, and then
3 The position data type is Software (1)Reset the alarm, and then try again.
not applicable. operation error (2)If the alarm occurs again, save the
E1102000106GB02 553
DX100 controller
Sub
Code
4 Coordinated control- Software (1)Reset the alarm, and then try again.
group error operation error (2)If the alarm occurs again, save the
5 User coordinates Software (1)Reset the alarm, and then try again.
number on the specified operation error (2)If the alarm occurs again, save the
tag side error occurred CMOS.BIN in maintenance mode, and then
5.0.430 WDT ERROR (CONVERTER)
Sub
Code
EAXA01-CN507,510
EAXB01-CN08
Converter CN551,553

SERVOPACK.

board to be safe.
5.0.431 REGENERATIVE TROUBLE (SERVO2)
Sub
Code
Connection Check the connection of regenerative resistor

failure cable.
554 E1102000106GB02
DX100 controller
Sub
Code

allowable limit.

SERVOPACK.
5.0.432 REGENERATIVE OVERLOAD (SERVO2)
Sub
Code

robot motion condition (influence by external
force, load condition)
Regenerative resistor capacity

allowable limit.
5.0.433 OVERVOLTAGE (SERVO2)
Sub
Code

SERVOPACK.
Voltage failure Check the SERVOPACK Primary supply

voltage.

E1102000106GB02 555
DX100 controller
5.0.434 VOLTAGE DROP (SERVO2)
Sub
Code

SERVOPACK.
Voltage failure Check the SERVOPACK Primary supply

voltage.

5.0.435 OVER SPEED (SERVO2)
Sub
Code

SERVOPACK.

The encoder line

556 E1102000106GB02
DX100 controller
5.0.436 OVERLOAD (MOMENT) (SERVO2)
Sub
Code

SERVOPACK.


The encoder line
5.0.437 OVERLOAD (CONTINUE) (SERVO2)
Sub
Code

SERVOPACK.


The encoder line
E1102000106GB02 557
DX100 controller
5.0.438 DB OVERLOAD (SEVO2)
Sub
Code

SERVOPACK.


SERVOPACK.
5.0.439 RESIST OVERLOAD (SERVO2)
Sub
Code

SERVOPACK.
Setting error Reduce the frequency of the main circuit power

supply ON/OFF.
5.0.440 HEAT SINK OVERHEAT (SERVO2
Sub
Code

SERVOPACK.

558 E1102000106GB02
DX100 controller
5.0.441 ENCODER BATTERY ERROR (SERVO2)
Sub
Code

SERVOPACK.
Connection Check the connection of encoder backup

failure battery.
Voltage failure Check the voltage.

5.0.442 ENCODER OVERHEAT (SERVO2
Sub
Code

SERVOPACK.


5.0.443 SPEED A/D ERROR (SERVO2)
Sub
Code

SERVOPACK.
E1102000106GB02 559
DX100 controller
5.0.444 TORQUE A/D ERROR (SERVO2
Sub
Code

SERVOPACK.
5.0.445 WRONG MOTOR ROTATION (SERVO2)
Sub
Code

SERVOPACK.

The encoder line

5.0.446 POSITION ERROR (SERVO2)
Sub
Code

SERVOPACK.

560 E1102000106GB02
DX100 controller
Sub
Code

5.0.447 OPEN PHASE (SERVO2)
Sub
Code


15%).

contactor.

SERVOPACK.

board to be safe.
E1102000106GB02 561
DX100 controller
5.0.448 OVERLOAD WARNING (SERVO2)
Sub
Code

SERVOPACK.


5.0.449 REGENERATIVE OVERLOAD WARN(SV2)
Sub
Code

SERVOPACK.

robot motion condition (influence by external
force, load condition)
Regenerative resistor capacity

562 E1102000106GB02
DX100 controller
5.0.450 MECHATROLINK DATA SET WARNING
Sub
Code

SERVOPACK.
5.0.451 MECHATROLINK COMMAND WARNING
Sub
Code

MECHATROLINK communication cable
5.0.452 MECHATROLINK2 COMMAND WARNING
Sub
Code


Noise Check the noise source of the

interference MECHATROLINK communication cable and
take countermeasures to reduce the noise.
E1102000106GB02 563
DX100 controller
5.0.453 VOLTAGE DROP WARING (SERVO2)
Sub
Code

SERVOPACK.
5.0.454 BATTERY WARNING (SERVO2)
Sub
Code
Connection Correct the primary power supply.

failure
Connection Check the battery connection.

failure
Module Replace the battery.

failure(battery)
5.0.455 MAIN POWER OFF (SERVO2)
Sub
Code

SERVOPACK.
564 E1102000106GB02
DX100 controller
5.0.456 INCOMPLETE FINE POSITIONING (SV2)
Sub
Code
Connection Correct the primary power supply.

failure
5.0.457 POSITION ERROR WARNING (SERVO2)
Sub
Code

5.0.458 MAGNETIC POLE DETECT ERROR(SV2)
Sub
Code
Setting error Replace the linear encoder.
5.0.459 CUBE/AXIS INTERFERENCE
Sub
Code
Sub Code; Group, axis, Setting error (1)Check the following settings.
and interference area Perform the teaching again to correct positions
number for robots so that the step where the alarm
occurred is out of interference area.
Change the settings for interference area.
E1102000106GB02 565
DX100 controller
5.0.460 MOTION COMMAND CODE ERROR (SV)
Sub
Code

5.0.461 CANNOT EXECUTE MOTION CMD (SV)
Sub
Code

5.0.462 AVERAGING TIME CHANGE ERR (SV)
Sub
Code

566 E1102000106GB02
DX100 controller
5.0.463 AVERAGING TIME ERROR (SERVO)
Sub
Code

5.0.464 POSITION LOOP GAIN ERROR (SV)
Sub
Code

5.0.465 MOTION COMMAND DATA ERROR (SV)
Sub
Code

E1102000106GB02 567
DX100 controller
5.0.466 PG POWER ON INCOMPLETE (SV)
Sub
Code

5.0.467 SERVO ON MULTIPLE REQUEST (SV)
Sub
Code

5.0.468 ENCODER ALARM (SERVO)
Sub
Code

568 E1102000106GB02
DX100 controller
5.0.469 GUN BEND MULTI CORRECT ERR (SV)
Sub
Code
5.0.470 MOTOR GUN POS. DIFF. OVER (SV)
Sub
Code
Sub Code: Signifies the Setting error Check the settings for jobs.
occurred
5.0.471 WRONG MOTOR GUN CHANGE AXIS (SV)
Sub
Code
occurred
5.0.472 WRONG MOTOR GUN FILE NO. (SERVO)
Sub
Code
occurred
E1102000106GB02 569
DX100 controller
5.0.473 ENCODER COUNTER DIFF. ERR(SV)
Sub
Code
occurred
5.0.474 REALTIME STATUS S/R ERROR (SV)
Sub
Code

5.0.475 AVERAGING DATA ERROR (SERVO)
Sub
Code

570 E1102000106GB02
DX100 controller
5.0.476 AVERAGING SUM ERROR (SERVO)
Sub
Code

5.0.477 AVERAGING STATUS ERR (SERVO)
Sub
Code

5.0.478 HIGH RESOLUTION PRM UNDEFINED(SV)
Sub
Code

E1102000106GB02 571
DX100 controller
5.0.479 WRONG GRP CHANGE AXIS (SERVO)
Sub
Code

5.0.480 BELT SNAP DETECT PRM ERROR (SV)
Sub
Code
5.0.481 SERIAL ENC OSCILL DETECTED (SV)
Sub
Code

572 E1102000106GB02
DX100 controller
5.0.482 BRAKE LOCK ERROR (SERVO)
Sub
Code

5.0.483 BRAKE RELEASE ERROR (SERVO)
Sub
Code

5.0.484 CONST.SPD MEASURE MULTI REQ (SV)
Sub
Code

E1102000106GB02 573
DX100 controller
5.0.485 DIN SIGNAL SPECIFIC. ERROR (SV)
Sub
Code
occurred
5.0.486 DB REGIST NOT INSTALLED(SV)
Sub
Code

DB resist of CN585 amplifier
Short-circuit connector CN585 amplifier
DB resist board The DB resist may be fired. Replace the DB

failure resist.

SERVOPACK.
5.0.487 RATED CURRENTAND MAXIMUM CURRENT HIGH RESOLUTION PRM

UNDEFINED (SERVO)
Sub
Code
Setting error Check the settings for condition files.
574 E1102000106GB02
DX100 controller
5.0.488 CONVTR POWER ERR (FREQUENCY) (SV)
Sub
Code
Board or Reset the alarm, and then execute the job.

software failure If the error occurs again, replace the YSV01
board and the YCP01 board, and then execute
the job. Or replace the YIF01 board, and then
initialize the job. Then, load the data saved in
the external memory device and execute the job
again.
5.0.489 CONVTR POWER ERR(PEAK)(SV)
Sub
Code
Primary power Correct the converter primary power supply.

supply failure
5.0.490 CONVTR REGENERATE OVERLOAD (SV)
Sub
Code
Primary power Correct the converter primary power supply.

supply failure
5.0.491 POSITION ERROR (COLLISION DETECT)
Sub
Code
Setting error Check the deceleration time parameter.
E1102000106GB02 575
DX100 controller
5.0.492 DESTINATION PULSE LIMIT
Sub
Code

Check the position setting for the step (move
instruction) where the alarm occurred.
5.0.493 DEST PULSE MECHANICAL LIMIT
Sub
Code

5.0.494 DEST MECHANICAL INTRF
Sub
Code

5.0.495 CONVTR POWER ERR (FREQUENCY) (SV)
Sub
Code

576 E1102000106GB02
DX100 controller
5.0.496 DESTINATION SELF-INTERFERENCE
Sub
Code

E1102000106GB02 577
DX100 controller
...
578 E1102000106GB02
DX100 controller
...
E1102000106GB02 579
YASKAWA in Ihrer Nhe / YASKAWA near You
YASKAWA Electric Corporation

JP 2-1, Kuroskai-shiroishi
Yahatanishi-ku
Kitakyushu-shi 806-0004
+093-645-8801
MOTOMAN EU Distributors
A Yaskawa Europe GmbH BG Kammarton Bulgaria Ltd.
Wien +43-1-707-9324-15 Sofia +359-02-926-6060
CZ Yaskawa Czech s.r.o CH Messer Eutectic Castolin Switzerland S.A.
Prag +420-257-941-718 Dllikon +41-44-847-17-17
D Yaskawa Europe GmbH CZ Hadyna International spol s.r.o.
Allershausen +49-8166-90-0 Ostrava-Marianske Hory +420-596-622-636
Yaskawa Europe GmbH Sp-Tech s.r.o.
Eschborn +49-6169-777250 Nymburk +420-325-515105
DK Motoman Robotics Europe AB H Flexman Robotics Kft
Lsning +45-7022-2477 Budapest +36-30-9510065
E Yaskawa Iberica S.L Rehm Hegesztstechnika Kft
Barcelona +34-93-6303478 Budapest +36-53-380-078
F Yaskawa France SARL IL Yaskawa Europe Technology LTD.
Nantes +33-2-4131919 Rosh Haayin +972-3-9004114
FIN Yaskawa Finland Oy N Optimove AS
Turku +358-403000600 Lierstranda +47-32240600
GB Yaskawa UK Ltd. PL Integrator RHC Sp. z o.o.
Banbury +44-1295-272755 Torun +48-56-6519710
I Yaskawa Italia s.r.l. RUS Weber Comechanics
Modena +39-059-280496 Torun +7-495-105-8887
Turin +39-011-9005833 TR Teknodrom Robotik
NL Yaskawa Benelux B.V Otomasyon San. Tic. Ltd. pti
Son +31-40-2895500 Gebze/Kocaeli +90-262-678-88-18
P Yaskawa Iberica S.L ZA Robotic Systems SA PT Y Ltd
Aveiro +351-234-9430 900 Johannesburg +27-11-6083182
SE Yaskawa Nordic AB
Kalmar +46-480-417800
Toras +46-480-417800
SI Yaskawa Slovenia d.o.o
Ribnica +386-1-8372-410
Yaskawa Ristro d.o.o
Ribnica +386-1-8372-410
Standort/ Yaskawa Europe GmbH Schulungszentrum Yaskawa Europe GmbH

Location Robotics Division und Vertriebsniederlassung / Drives + Motion Division
Standort Allershausen Training centre and sales office Hauptstrae 185
Kammerfeldstrae 1 65760 Eschborn www.yaskawa.eu
85391 Allershausen Fon +49-61 96 -7 77 25 -0
Fon +49 -81 66 -90 -0 Fax: +49-61 96 -7 77 25 -39 e-Mail: info@yaskawa.eu.com
Fax: +49 -81 66 -90 -103
nderungen, welche dem technischen Fortschritt dienen, vorbehalten.

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

Alarm List - E1102000106GB02

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Alarm List - E1102000106GB02

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DX100 controller

E1102000106GB01 X 09.06.2010 WOE

new Logo and new

3 Alarm series 0000........................................................................................ 20

4 Alarm series 1000...................................................................................... 116

5 Alarm series 4000...................................................................................... 248

1.1 Outline of alarm

Table 1 Alarm code classification

Level 0 (Major alarm) It is not possible to reset by

It is not possible to reset by

After correcting the cause for which

2.1 Displaying and releasing alarm

Alarm No. Alarm 4100 [1] Sub data

2.1.1 Releasing alarms

2.2 Special alarm display

2.2.1 Sub Data

XYZ coordinate data

Control group data

2.2.2 Multiple SERVOPACK system

2.2.3 Independent control function (optional)

3 Alarm series 0000

3.0.1 CPU Communication Error

3.0.1.1 Alarm No. 0020

Connection failure (1)Turn the power OFF then back ON.

YCP01 board (1)Turn the power OFF then back ON.

20 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

Board failure (1)Turn the power OFF then back ON

YCP01 board (1)Turn the power OFF then back ON.

21 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

Board failure (1)Turn the power OFF then back ON.

YCP01 board (1)Turn the power OFF then back ON.

20 No response was sent Setting error (1)Check the following settings.

50 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

51 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

52 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

53 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

54 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

55 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

56 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

57 No response was sent Setting error (1)Check the following settings.

Connection failure (1)Turn the power OFF then back ON.

EAXA board (1)Turn the power OFF then back ON.

3.0.2 Communication Error (SERVO)

3.0.2.1 Alarm Number 0021

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

Connection (1)Turn the power OFF then back ON.