Listing the error codes in the range from 6000 to 5999. These are minor alarms.
Alarm list based on YRC1000micro system software version
YBS4.166xxx
6000 [70]
Alarm 6000 [70] - SYSTEM ERROR2(PFL)
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 number 32 is valid.
(3) If the alarm occurs again, replace the controller. Save the CMOS.BIN before replacement to be safe.
6001
Alarm 6001 - MUTING ERROR(PFL)
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
Alarm 6002 - NEAR SINGULARITY(PFL)
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 if collision occurs.
(4) Confirm the safety and resume the robot.
6003
Alarm 6003 - UNDEFINED SPEED LIMIT(PFL)
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
Alarm 6004 - ESCAPE FROM CLAMPING ERROR(PFL)
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 occured, 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
Alarm 6005 - EXTERNAL FORCE ERROR(PFL)
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 occured, confirm the safety and escape from collision.
(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.
6008
Alarm 6008 - TRQ SENSOR OVERLOAD
Description:
Sub Code:Alarm axis is shown.
Remedy:
(1) If robot is crashed, confirm the safety and escape from crash.
(2) Turn the power OFF then back ON.
(3) Confirm the torque sensor home position. And, if home position is diverged, set correct position.
(4) After home position setting, confirm the safety before operation start.
6011
Alarm 6011 - AVOIDANCE FUNC. PARAMETER ERROR
Description:
Subcode: Signifies the error type and the targeted D variable.
last 3 digit: D variable’s number
first digit: erroer 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
Alarm 6012 - HAND GUIDING PARAMETER ERROR
Description:
Subcode: Signifies the error type and the targeted D variable.
last 3 digit: D variable’s number
first digit: erroer 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
Alarm 6013 - CANNOT START HAND GUIDING(JOINT)
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
Alarm 6014 - CANNOT START HAND GUIDING(XYZ-T)
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
Alarm 6015 - CANNOT START HAND GUIDING(RBT)
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
Alarm 6016 - AVOIDANCE FUNC.RECOVER ERR(IMOV)
Content:
Avoidance function has executed during IMOV.
Remedy:
(1) Reset the alarm.
(2) Do not execute avoidance function during IMOV.
6017 [16]
Alarm 6017 [16] - HAND GUIDING SUSPEND
Description:
Servo power has been turn OFF during escape from clamping.
Remedy:
Reset the alarm.
6017 [17]
Alarm [17] - HAND GUIDING SUSPEND
Description:
Hold has requested during escape from clamping.
Remedy:
Reset the alarm.
6018 [16]
Alarm 6018 [16] - ESCAPE FROM CLAMPING SUSPEND
Description:
Servo power has been turn OFF during escape from clamping.
Remedy:
Reset the alarm.
6018 [17]
Alarm [17] - ESCAPE FROM CLAMPING SUSPEND
Description:
Hold has requested during escape from clamping.
Remedy:
Reset the alarm.
6019 [16]
Alarm 6019 [16] - DIRECT TEACHING FAILED
Description:
Cannot edit the prohibited JOB
Remedy:
Reset the alarm.
6019 [64]
Alarm [64] - DIRECT TEACHING FAILED
Description:
Cannot edit JOB because edit screen is not active
Remedy:
Reset the alarm.
6022
Alarm 6022 - EXTERNAL FORCE ESTIMATION ERROR
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
Alarm 6023 - AVOIDANCE FUNC.
ERR(CONV. SYNC)
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
Alarm 6024 - PENDANT COMMUNICATION ERROR
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 YRC1000micro MAINTENANCE MANUAL.
6036
Alarm 6036 - ROBOT I/F CONNECTION ERROR
Content:
An error of communication with the host device using the YERCProfile has occuerred.
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]
Alarm 6037 [3] - MANUAL OPERATION FAILED
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]
Alarm 6038 [1] - EXTERNAL FORCE CONTROL FAILED
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]
Alarm [2] - EXTERNAL FORCE CONTROL FAILED
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]
Alarm [3] - EXTERNAL FORCE CONTROL FAILED
Description:
Too many arguments of SKILL command.
Remedy:
Decrease the number of arguments of SKILL command.
6038 [4]
Alarm [4] - EXTERNAL FORCE CONTROL FAILED
Description:
Out of range of argument value.
Remedy:
Confirm and fix the value of arguments of SKILL command.
6038 [5]
Alarm [5] - EXTERNAL FORCE CONTROL FAILED
Description:
Wrong combination about arguments.
Remedy:
Confirm and fix the pair of arguments of SKILL command.
6060
Alarm 6060 - CANNOT START HAND GUIDING(ROTATE)
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]
Alarm 6061 [10] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [11] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [12] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [13] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [23] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [101] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [102] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [103] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [104] - RECONFIGURE TORQUE SENSOR FAILED
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]
Alarm [255] - RECONFIGURE TORQUE SENSOR FAILED
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).
6063 [0]
Alarm 6063 [0] - TORQUE SENSOR MOTOFIT ERROR
Description:
Torque sensor MotoFit force control has executed in near singularity.
Remedy:
Reset the alarm, and execute force control avoiding singularity.
6063 [1]
Alarm [1] - TORQUE SENSOR MOTOFIT ERROR
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]
Alarm [2] - TORQUE SENSOR MOTOFIT ERROR
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]
Alarm 6064 [1] - MACRO INST SETTING ERROR
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.
6069 [1]
Alarm 6069 [1] - ABSOLUTE ACCURACY ERROR
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 suport ABSAOFF.
6257 [1]
Alarm 6257 [1] - SETLOAD SETTING ERROR
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]
Alarm [2] - SETLOAD SETTING ERROR
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
Alarm 6258 - TORQUE SENSOR MUTING ERROR
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).