6xxx

Listing the error codes in the range from 6000 to 5999. These are minor alarms.

6000 [70]

Description:
Invalid of Axis Speed Monitor Condition File

Remedy:
(1) Turn the power OFF then back ON. (2) Confirm the Axis Speed Monitor Condition File No. 32 is valid. (3) If the alarm occurs again, replace the ASF04 board. Save the CMOS.BIN before replacement to be safe.

6001

Content:
PFL Speed limitation is invalid during PFL muting operation.

Remedy:
(1) Reset alarm. (2) Confirm the robot is crashed. (3) If PFL function is muted, confirm the safety and resume the robot.

6002

Content:
On the singularity, 2 or more axes movement is restricted. If 2 or more axes movement is detected on the singularity, this alarm is occurred.

Remedy:
(1) Reset alarm. (2) If the alarm occurs again, confirm if 2 or more axes are moved near singularity in collaborative operation. (3) Confirm the robot is crashed. (4) Confirm the safety and resume the robot.

6003

Content:
Speed limitation is required for collaborative operation. If speed limitation is not set, this alarm is occurred.

Remedy:
(1) Confirm the setting of speed limit condition file no.31 and 32 in accordance with the manual. (2) Reset alarm. (3) Confirm if collision occurs. (4) Confirm the safety and resume the robot.

6004

Content:
When clamping is happened, robot moves the any direction which direction decrease the power automatically. If power is increased greatly during escaping, this alarm is occurred.

Remedy:
(1) Reset alarm. (2) If collision occurred, confirm the safety and escape from collision. (3) Confirm if setting of Tool files is correct. (4) Confirm if torque sensor home position is deviated. If it is deviated, set home position again following Collaborative Operation Instructions. (5) If the alarm occurs again, Turn the power OFF then back ON. (6) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure).

6005

Description:
Sub Code:alarm occurred axis or direction 1-8: Axis number 9-12: TCP(Resultant,X,Y,Z)

Remedy:
(1) Reset alarm. (2) If collision occurred, confirm the safety and escape from crash. (3) Confirm if setting of Tool files is correct. (4) Confirm the torque sensor home position. And, if home position is diverged, set correct position again following Collaborative Operation Instructions. (5) After home position setting, confirm the movement before operation start.

6007

Description:
Sub Code: Tip dress condition file number

Remedy:
Set a positive value for the dress length of the tip dress condition file.

6008

Description:
Sub Code: Indicates the axis in which the alarm occurred.

Remedy:
(1) If an external force is applied to the manipulator due to a collision with the surroundings or other causes, move the manipulator according to the manual. (2) Turn the power OFF then back ON. (3) If the alarm occurs again, save the CMOS.BIN, and then contact your YASKAWA representative about occurrence status (operating procedure).

6010 [1]

Description:
Master group designation error

Remedy:
(1) Reset the alarm. (2) Confirm that the specified control group is master group.

6011

Description:
Subcode: Signifies the error type and the targeted D variable. last 3 digit: D variable’s number first digit: error types Meaning of error type is as follows. None:Parameter range error 1:Setting of two D variables is wrong. When setting of two D variable is wrong, the younger one is signified as the targeted D variable.

Remedy:
(1) Reset the alarm after turn off Servo Power. (2) Check the and correct the D variable settings.

6012

Description:
Subcode: Signifies the error type and the targeted D variable. last 3 digit: D variable’s number first digit: error types Meaning of error type is as follows. None:Parameter range error 1:Setting of two D variables is wrong. When setting of two D variable is wrong, the younger one is signified as the targeted D variable.

Remedy:
(1) Reset the alarm. (2) Check the and correct the D variable settings.

6013

Description:
subcode:The axis that exceeds the allowable value is indicated by a bit. D01:S D02:L D03:U D04:R D05:B D06:T

Remedy:
(1) Reset the alarm. (2) Reduce the force for the hand guiding when starting.

6014

Description:
subcode:The direction or the axis that exceeds the allowable value is indicated by a bit. D01:X D02:Y D03:Z D04:T

Remedy:
(1) Reset the alarm. (2) Reduce the force for the hand guiding when starting.

6015

Description:
subcode:The axis that exceeds the allowable value is indicated by a bit. D01:S D02:L D03:U D04:R D05:B D06:T

Remedy:
(1) Reset the alarm. (2) Reduce the force for the hand guiding when starting.

6016

Content:
Avoidance function has executed during IMOV.

Remedy:
(1) Reset the alarm. (2) Do not execute avoidance function during IMOV.

6017 [16]

Description:
Servo power has been turn OFF during hand guiding.

Remedy:
Reset the alarm.

6017 [17]

Description:
Hold has requested during hand guiding.

Remedy:
Reset the alarm.

6018 [16]

Description:
Servo power has been turn OFF during escape from clamping.

Remedy:
Reset the alarm.

6018 [17]

Description:
Hold has requested during escape from clamping.

Remedy:
Reset the alarm.

6019 [16]

Description:
Cannot edit the prohibited JOB.

Remedy:
Reset the alarm.

6019 [64]

Description:
Cannot edit JOB because edit screen is not active.

Remedy:
Reset the alarm.

6021 [1]

Description:
Incorrect number of teaching points for work calibration

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [2]

Description:
Incorrect designation of the occupation control group for PC program work calibration data

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [3]

Description:
Incorrect designation of the enabling control group for PC program work calibration data

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [4]

Description:
Incorrect designation of the control group for PC program work calibration data

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [5]

Description:
Incorrect designation of the occupation control group for controller program calibration data

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [6]

Description:
Incorrect designation of the enabling control group for controller program calibration data

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [7]

Description:
Incorrect designation of the control group for controller program calibration data

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [8]

Description:
Among taught points in the PC work calibration program, two or three points are on the same point.

Remedy:
Teach the data for work calibration so that each point is different.

6021 [9]

Description:
Among taught points in the controller work calibration program, two or three points are on the same point.

Remedy:
Teach the data for work calibration so that each point is different.

6021 [10]

Description:
The number of robots in the PC work calibration program is two or more.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6021 [11]

Description:
The number of robots in the controller work calibration program is two or more.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6022

Description:
subcode:The axis that exceeds the allowable value is indicated by a bit. D01:S D02:L D03:U D04:R D05:B D06:T

Remedy:
(1) Check if any external force has been applied to the manipulator, such as colliding with the surroundings. (2) Reset the alarm, and confirm the tool file settings(Weight, Unit of centroid position, +-). (3) Confirm the torque sensor home position. And, if home position is diverged, set correct position.

6023

Content:
Avoidance function has used during conveyor synchronized operation.

Remedy:
(1) Reset the alarm. (2) Do not use the avoidance function during conveyor synchronized operation.

6024

Content:
A communication error occurred between the controller and the programming pendant.

Remedy:
For the cause and remedy, refer to chapter 13 “Trouble Shooting When Alarm Is Not Displayed” of the YRC1000 MAINTENANCE MANUAL.

6025

Content:
An error has occurred on the synchronization target controller.

Remedy:
Resolve the error of the synchronization target controller.

6029

Description:
Sub Code: The duplicated gun number

Remedy:
Check the settings for gun numbers.

6030

Content:
Sealing condition setting value out of range was specified.

Remedy:
Please specify a value within the range.

6031 [0]

Description:
IP address for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the IP address for Trumpf i-PFO.

6031 [1]

Description:
Port number for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the Port number for Trumpf i-PFO.

6031 [2]

Description:
SENTYPE for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the SENTYPE for Trumpf i-PFO.

6031 [3]

Description:
Communication direction for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the Communication direction for Trumpf i-PFO.

6031 [4]

Description:
Error counter output M register for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the Error counter output M register for Trumpf i-PFO.

6031 [5]

Description:
Communication error threshold for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the Communication error threshold for Trumpf i-PFO.

6031 [6]

Description:
Continuous writing check for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the Continuous writing check for Trumpf i-PFO.

6031 [7]

Description:
No transmission request counter output M register for Trumpf i-PFO is not set correctly.

Remedy:
Check the setting of the No transmission request counter output M register for Trumpf i-PFO.

6031 [100]

Description:
LAN Interface Setting is not set correctly.

Remedy:
Check the setting of the LAN interface.

6031 [2000]

Description:
Trumpf i-PFO communication error over the threshold has detected.

Remedy:
Check the communication settings for Trumpf i-PFO is correct. Check the MotoPlus application for Trumpf i-PFO is correct.

6036

Content:
An error of communication with the host device using the YERCProfile has occurred.

Remedy:
(1) Check the settings of Ethernet for the robot controller. (2) Check whether the host device’s power is ON. (3) Check the settings of IP address for the host device.

6037 [3]

Description:
Do not tried to manually operate multiple robots in a coordinated control job.

Remedy:
(1) Reset the alarm. (2) Set R1 and R2 to jobs in different control groups.

6038 [1]

Description:
Failed to read the command of SKILLSND.

Remedy:
(1) Confirm and fix the command of SKILLSND. (2) Confirm and fix the delimiter character between command name and argument.

6038 [2]

Description:
Failed to read the argument of SKILL command.

Remedy:
(1) This command requires the argument. Set the argument into SKILL command. (2) Confirm and fix the command name of SKILLSND. (3) Confirm and fix the delimiter character between command name and argument.

6038 [3]

Description:
Too many arguments of SKILL command.

Remedy:
Decrease the number of arguments of SKILL command.

6038 [4]

Description:
Out of range of argument value.

Remedy:
Confirm and fix the value of arguments of SKILL command.

6038 [5]

Description:
Wrong combination about arguments.

Remedy:
Confirm and fix the pair of arguments of SKILL command.

6039

Content:
An error occurred when registering criteria of gas pressure check.

Remedy:
Do not execute any job when registering criteria of gas pressure check.

6040

Description:
Sub Code: Gun support axis pressure file number

Remedy:
Match the number of “END WAIT” in the gun support axis pressure file, and the number of “Welding Conditions(WTM)” in the instruction.

6041 [1]

Description:
The gun is designated as wear detection prohibited.

Remedy:
Verify that the specified gun and wear detection action is a wear detectable combination.

6042

Description:
Sub Code: Gun number

Remedy:
(1) Reset the alarm. (2) If the alarm occurs again, check the connection and inserting state of the following cables and connectors.

• SDCA01-CN501, CN531, CN532, CN533
• CPS01-CN157
• Inverter board-CN571, CN573-579,
• SDB(External axis SERVO PACK)-CN591, 594
• Motor power line

6044

Description:
Sub Code: System number

Remedy:
Cannot execute BWD operation from the current position. Reset the alarm, and then move the manipulator to safety place in teach mode.

6045

Description:
Sub Code; Group and file number

Remedy:
Check the following settings.

• Change the step position at which the alarm occurs so that it does not exceed the threshold value.
• Modify the csync interference setting.

6046

Description:
Sub code: Indicates a communication target station that has been improperly configured in 6-digit decimal [XX Y ZZZ] format. XX : IO module number Y : Channel number 0: 1 channel 1: 2 channels (SST-DN4-PCU only) ZZZ: Communication station number (station number)

Remedy:
Check that the PROFINET disconnection function settings are correct for the communication target station indicated by the subcode.

6047

Description:
Sub code: Indicates a communication target station that has detected a communication error in 6-digit decimal [XX Y ZZZ] format. XX : IO module number Y : Channel number 0: 1 channel 1: 2 channels (SST-DN4-PCU only) ZZZ: Communication station number (station number)

Remedy:
Check the communication target station indicated by the subcode is working normally.

6048 [1]

Description:
Backward operation is not possible for the current job.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6048 [2]

Description:
Could not find information about the job called by the instruction.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6048 [3]

Description:
The information of the job called by the instruction was abnormal.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6049

Description:
Sub Code: Group, interference area number and set number

Remedy:
Check the following settings.

• Change the step position where the alarm occurred to the area outside the interference area.
• Modify the interference area setting.

6050

Description:
Sub Code: Group, interference area number and set number

Remedy:
Check the following settings.

• Change the step position where the alarm occurred to the area outside the interference area.
• Modify the interference area setting.

6051

Description:
Sub Code: Group, axis, interference area number and set number

Remedy:
Check the following settings.

• Change the step position where the alarm occurred to the area outside the interference area.
• Modify the interference area setting.

6052 [1780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder1.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [2780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder2.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [3780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder3.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [4780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder4.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [5780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder5.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [6780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder6.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [7780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder7.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [8780]

Description:
Error 780 : OUTSIDE OF VOLTAGE SETTING (High) occurred in the welder8.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [1781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder1.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [2781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder2.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [3781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder3.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [4781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder4.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [5781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder5.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [6781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder6.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [7781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder7.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [8781]

Description:
Error 781 : OUTSIDE OF VOLTAGE SETTING (Low) occurred in the welder8.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE SETTING(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) When D-3-12 parameter of the MOTOWELD is set to “OFF”, Check if the range set in C parameter C73(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow. (8) When D-3-12 parameter of the MOTOWELD is set to “ON”, Check if the range set in A parameter A6(Judgment range for OUTSIDE OF VOLTAGE SETTING(Unit:0.1V)) of the MOTOWELD is not too narrow.

6052 [1782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder1.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [2782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder2.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [3782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder3.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [4782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder4.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [5782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder5.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [6782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder6.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [7782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder7.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [8782]

Description:
Error 782 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (High) occurred in the welder8.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [1783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder1.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [2783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder2.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [3783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder3.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [4783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder4.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [5783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder5.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [6783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder6.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [7783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder7.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6052 [8783]

Description:
Error 783 : OUTSIDE OF VOLTAGE SETTING FORCED STOP (Low) occurred in the welder8.

Remedy:
The weld voltage command value and the weld voltage output value are different. Please check the following. (1) Check if the weld voltage command is not too low or too high. (2) Check if the selection of motor is correct, or confirm the settings of C parameter C09. (3) Check if the wire, shield gas, weld type, grounding are correctly set. (4) Check if the welding wire does not slip, or the wire is fed as instructed by the feeding command. (5) Check if the wire stick out is not excessively short or long. (6) Check if the range set in C parameter C72(Average calculation time used for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Unit:0.1s)) of the MOTOWELD is not too narrow. (7) Check if the range set in C parameter C75(Judgment range for OUTSIDE OF VOLTAGE.SETTING FORCED STOP(Uint:0.1V)) of the MOTOWELD is not too narrow.

6055 [1]

Description:
A watchdog signal error occurred on VEW01 (welder1).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [2]

Description:
A watchdog signal error occurred on VEW01 (welder2).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [3]

Description:
A watchdog signal error occurred on VEW01 (welder3).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [4]

Description:
A watchdog signal error occurred on VEW01 (welder4).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [5]

Description:
A watchdog signal error occurred on VEW01 (welder5).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [6]

Description:
A watchdog signal error occurred on VEW01 (welder6).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [7]

Description:
A watchdog signal error occurred on VEW01 (welder7).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6055 [8]

Description:
A watchdog signal error occurred on VEW01 (welder8).

Remedy:
The watchdog signal updated by the CIO ladder has stopped. Reboot the robot controller.

6057

Description:
Sub code: Indicates a communication target station that has detected a communication error in 6-digit decimal [XX Y ZZZ] format. �@XX : IO module number �@Y : Channel number (always “0”) �@ZZZ: Communication station number (always “000”)

Remedy:
Check followings. (1) Check that the CC-Link communication settings are correct. (2) Check that the communication settings of the communication master (PLC) and the communication settings of the YRC1000 match.

6058

Description:
Sub code: Indicates a communication target station that has detected a communication error in 6-digit decimal [XX Y ZZZ] format. �@XX : IO module number �@Y : Channel number (always “0”) �@ZZZ: Communication station number (always “000”)

Remedy:
Check followings. (1) Check that the CC-Link IE Filed communication settings are correct. (2) Check that the communication settings of the communication master (PLC) and the communication settings of the YRC1000 match.

6059

Description:
Sub code: Indicates a communication target station that has detected a communication error in 6-digit decimal [XX Y ZZZ] format. �@XX : IO module number �@Y : Channel number 0: channel 1 1: chaneel 2 (Only for SST-DN4-PCU-2) �@ZZZ: Communication station number (MAC ID) (Only for master)

Remedy:
Check followings. (1) Check that the CC-Link communication settings are correct. (2) Check that the communication settings of the communication master (PLC) and the communication settings of the YRC1000 match.

6060

Description:
subcode:The direction that exceeds the allowable value is indicated by a bit. D01: Rx D02: Ry D03: Rz

Remedy:
(1) Reset the alarm. (2) Reduce the force for the hand guiding when starting.

6061 [10]

Description:
Failed to get the current home position.

Remedy:
If any incomplete readback files exist, write or discard the files, and then try again.

6061 [11]

Description:
Failed to send the reconfigure data.

Remedy:
If any incomplete readback files exist, write or discard the files, and then try again.

6061 [12]

Description:
Failed to get the readback data.

Remedy:
(1) If opened TORQUE SENSOR ORG POS window, change to other window, and then try again. (2) If any incomplete readback files exist, write or discard the files, and then try again.

6061 [13]

Description:
Failed to write the readback data.

Remedy:
(1) If opened TORQUE SENSOR ORG POS window, change to other window, and then try again. (2) If any incomplete readback files exist, write or discard the files, and then try again.

6061 [23]

Description:
Failed to cancel procedure.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure).

6061 [101]

Description:
Timeout(Confirmation the current data).

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure).

6061 [102]

Description:
Timeout(Confirmation the reconfigure data).

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure).

6061 [103]

Description:
Timeout(Confirmation and write the readback data).

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure).

6061 [104]

Description:
Timeout(Confirmation the complete signal).

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure).

6061 [255]

Description:
Software operation failure

Remedy:
(1) After reset the alarm, turn the power OFF then back ON, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your YASKAWA representative about occurrence status (operating procedure).

6062 [1]

Description:
Correcting the UP and DOWN path exceeds input range.

Remedy:
Set the correcting the UP and DOWN path within the range.

6062 [2]

Description:
Correcting the LEFT and RIGHT path exceeds input range.

Remedy:
Set the correcting the LEFT and RIGHT path within the range.

6063 [0]

Description:
Torque sensor MotoFit force control has excuted in near singularity.

Remedy:
Reset the alarm, and excecute force control avoiding singlarity.

6063 [1]

Description:
External force exceeding the threshold has detected in torque sensor MotoFit force control.

Remedy:
(1) Reset the alarm, and avoid external force exceeding the threshold, and execute force control. (2) Confirm the torque sensor home position. And, if home position is diverged, set correct position again following Collaborative Operation Instructions.After home position setting, confirm the movement before operation start.

6063 [2]

Description:
Changing Tool files during torque sensor MotoFit force control.

Remedy:
(1) Reset the alarm, and set not to change Tool files during force control.

6064 [1]

Description:
An error occurred in SUSPEND MACRO JOB setting.

Remedy:
A job other than a SUSPEND MACRO JOB is set in the SUSPEND MACRO JOB setting of the executing macro job. Reset the alarm. Select the executing macro job and open the job header, then set suitable job to the setting area of SUSPEND MACRO JOB.

6065 [0]

Description:
Too many optional functions are enabled.

Remedy:
Disable some optional functions by confirming the memory usage of each optional function on OPTION FUNCTION SIZE window by selecting [SYSTEM INFO] and then [OPTION FUNCTION SIZE] from MAIN menu. Contact your YASKAWA representative to actually disable some functions.

6065 [1]

Description:
It was impossible to confirm the memory usage for optional functions.

Remedy:
(1) Turn the power OFF then back ON. (2) If the alarm occurs again, save the CMOS.BIN, contact your YASKAWA representative, and send CMOS.BIN and the occurrence status (operating procedure).

6066 [1]

Description:
No name has been registered for the master job or edit job on the SUPERVISORY (SYSTEM) window.

Remedy:
(1) Reset the alarm. (2) Check if the master job and edit job are registered on the SUPERVISORY (SYSTEM) window. (3) SUPERVISORY (SYSTEM) window for the system to restart.

6066 [2]

Description:
Master job not found.

Remedy:
(1) Reset the alarm. (2) Check if the master job and edit job are registered on the SUPERVISORY (SYSTEM) window.

6066 [3]

Description:
Failed to read the master job.

Remedy:
(1) Reset the alarm. (2) Failed to read the master job registered in the SUPERVISORY (SYSTEM) window. (3) SUPERVISORY (SYSTEM) window for the system to start.

6066 [4]

Description:
System job was started from a screen other than the SUPERVISORY (SYSTEM) window..

Remedy:
(1) Reset the alarm. (2) System job was started from a screen other than the SUPERVISORY (SYSTEM) window. Start the system job from the SUPERVISORY (SYSTEM) window.

6066 [5]

Description:
Failed to start system job.

Remedy:
(1) Failed to start system job. (2) Turn the power OFF then back ON, and then try again. (3) Check whether system jobs are automatically started.

6066 [6]

Description:
The operator stopped the system job on the SUPERVISORY (SYSTEM) window.

Remedy:
(1) Reset the alarm. (2) SUPERVISORY (SYSTEM) window for the system to stop. (3) SUPERVISORY (SYSTEM) window for the system to restart.

6068

Description:
A file whose WELD COND OUTPUT TYPE is start signal and whose WELD COND OUTPUT TIME is other than 0.00 seconds was loaded.

Remedy:
(1) Reset the alarm. (2) Change to S2C1925=0. (3) Please load again. (4) Change to S2C1925=3. (5) If the alarm occurs again, save the CMOS.BIN, and then contact your YASKAWA representative about occurrence status (operating procedure).

6069 [1]

Description:
Motion control that does not support the ABSAOFF was executed.

Remedy:
Please change the job so that ABSAOFF is not executed in motion control that does not supportt ABSAOFF.

6102

Description:
Sub Code 1:Ladder monitor data is incorrect. Sub Code 2:Ladder monitor index is incorrect.

Remedy:
(1) Reset the alarm, and then try again. (2) If the alarm occurs again, save the CMOS.BIN, and then contact your Yaskawa representative about occurrence status (operating procedure, ladder editor line index).

6257 [1]

Description:
Upper limit over

Remedy:
(1) Reset the alarm. (2) Check that the difference between the tool weight set by the SETLOAD command and the default tool weight is less than or equal to the value set by S3C1438 (0.001kg).

6257 [2]

Description:
Lower limit over

Remedy:
(1) Reset the alarm. (2) Check that the difference between the tool weight set by the SETLOAD command and the default tool weight is greater than or equal to the value set by S3C1439 (0.001kg).

6258

Content:
Failed to perform torque sensor disable.

Remedy:
(1) Reset the alarm. (2) If the alarm occurs again, confirm the following. �Verify that the PFL function is in muting. (3) If the alarm occurs again, save the CMOS.BIN, and then contact your YASKAWA representative about occurrence status (operating procedure).

6267

Description:
Sub Code: Signifies the axis in which the alarm occurred

Remedy:
Turn OFF the YRC1000 power for approx. 10 minutes, then turn it ON again.

6268

Description:
Sub Code: Signifies the axis in which the alarm occurred

Remedy:
[AL-4314 occurred] Replace the battery of the axis in which the error occurred. [AL-1327 occurred] Replace the battery of the axis in which the alarm occurred. If the home position of the corresponding axis is displayed as “***”, register the home position again. AL-1327 occurs due to the battery disconnection (weak battery), causing undefined alarm data. If the alarm doesn’t occur after turning the power OFF and then ON, there is no problem.

6269

Content:
Secondary encoder backup battery voltage is too low. The voltage of the encoder backup battery is below 2.8V.

Remedy:
Replace the battery.

6270

Description:
Sub Code: Signifies the axis in which the alarm occurred

Remedy:
(1) Reset the alarm. (2) If the alarm occurs again, replace the secondary encoder.

6271

Description:
Sub Code: Signifies the axis in which the alarm occurred

Remedy:
(1) Reset the alarm. (2) If the alarm occurs again, check the connection and inserting state of the following cables and connectors.

• Cable between encoders
• SDCA01-CN534

6272

Description:
Sub Code: Control group and axis

Remedy:
Check the following settings.

• Perform the teaching again to correct positions for manipulators so that the step where the alarm occurred is within the motion range.

6285 [1]

Description:
Items other than single vibration were set in the weaving form when the WVADJ instruction was executed.

Remedy:
Forms when using the WJADJ instruction cannot be used together for items other than single oscillation. Select single oscillation in the form in the weaving condition file.

6285 [2]

Description:
The product of the variable weaving frequency and one-sided amplitude is set beyond the specified value in the setting when the WVADJ instruction is executed.

Remedy:
The variable weaving frequency and single amplitude are calculated by the following formula using the weaving condition file settings and the WVADJ instruction settings. Variable weaving frequency = STD / END * FREQ FREQ is the frequency set in the weaving condition file When ADJMD = 0 (differential method), Variable weaving strip amplitude = AMP + ( END - STD ) / 2 When ADJMD = 1 (ratio method), Variable weaving strip amplitude = ( END / STD ) * AMP AMP is the single amplitude set in the weaving condition file When this variable weaving frequency is between 3 Hz and 4 Hz, adjust the setting so that the product of the variable weaving frequency and the single amplitude is less than 12. For details, please refer to “FOR MULTI-LAYER WELDING FUNCTION”.

6285 [3]

Description:
In the execution settings of the WVADJ instruction, the frequency is set to a value higher than the specified value.

Remedy:
The variable weaving frequency and single amplitude are calculated by the following formula using the weaving condition file settings and the WVADJ instruction settings. Variable weaving frequency = STD / END * FREQ FREQ is the frequency set in the weaving condition file When ADJMD = 0 (differential method), Variable weaving strip amplitude = AMP + ( END - STD ) / 2 When ADJMD = 1 (ratio method), Variable weaving strip amplitude = ( END / STD ) * AMP AMP is the single amplitude set in the weaving condition file Adjust the setting so that this variable weaving frequency is 5 Hz or less. For details, please refer to “FOR MULTI-LAYER WELDING FUNCTION”.