HW0483057.0 Trouble Schooting

YASKAWA
NX100 OPTIONS
INSTRUCTIONS
FOR TROUBLESHOOTING
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-UUU INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATORS MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operators manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Do not submit this electronic data to the customer.
THIS MATERIAL IS FOR STUDY PURPOSE ONLY.

YOU MUST READ THE MANUAL WHICH ENCLOSED
WITH A ROBOT.
YASKAWA
MANUAL NO.
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MANDATORY
This manual explains the troubleshooting for the NX100 system. Read
this manual carefully and be sure to understand its contents before handling the NX100.
General items related to safety are listed in Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
CAUTION
Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your products warranty.
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as WARNING, CAUTION,
MANDATORY, or PROHIBITED.
WARNING
Indicates a potentially hazardous situation which, if not avoided,

could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not avoided,

could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe
practices.
MANDATORY
Always be sure to follow explicitly the items listed under this

heading.
PROHIBITED
Must never be performed.
Even items described as CAUTION may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as CAUTION and WARNING.
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WARNING
Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
Observe the following precautions when performing teaching operations

within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant.
- Running the system in the check mode.
- Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problems.
The emergency stop buttons are located on the right of the front door of the NX100 and
the programming pendant.
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CAUTION
Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the NX100
Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows.
Equipment
Manual Designation
NX100 Controller
NX100
NX100 Programming pendant
Programming pendant
Cable between the manipulator and NX100
Manipulator cable
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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are

denoted with [ ].
ex. [ENTER]
Symbol Keys
The keys which have a symbol printed on them are

not denoted with [ ] but depicted with a small picture.
GO BACK
ex. page key

The cursor key is an exception, and a picture is not
shown.
PAGE
Axis Keys
Numeric Keys
Axis Keys and Numeric Keys are generic names

for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,

the keys are shown with a + sign between them,
ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}
Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select " means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.
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Troubleshooting Procedures
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AL-0020 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
AL-0021 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
AL-0030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
AL-0060 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
AL-0100 / 0101 / 0102 / 0103 . . . . . . . . . . . . . . . . . . . . . . . . . 5
AL-0200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
AL-0210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
AL-0220 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
AL-0230 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
AL-0300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
AL-0310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
AL-0320 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
AL-0330 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
AL-0400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
AL-0410 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
AL-0500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
AL-0900 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
AL-0910 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
AL-0930 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
AL-0950 / 0951 / 0952 / 0953 . . . . . . . . . . . . . . . . . . . . . . . . 20
AL-1001 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
AL-1030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
AL-1031 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
AL-1050 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
AL-1051 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
AL-1100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
AL-1101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
AL-1102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
AL-1103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
AL-1104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
AL-1105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
AL-1200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
AL-1204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
AL-1207 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
AL-1208 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
AL-1209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
AL-1210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
AL-1211 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
AL-1212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
AL-1213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
AL-1214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
AL-1215 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
AL-1216 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
AL-1217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
AL-1218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
AL-1219 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
AL-1223 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
AL-1224 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
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AL-1225
AL-1300
AL-1301
AL-1302
AL-1303
AL-1304
AL-1306
AL-1307
AL-1308
AL-1309
AL-1310
AL-1311
AL-1312
AL-1325
AL-1325
AL-1326
AL-1327
AL-1328
AL-1329
AL-1330
AL-1335
AL-1335
AL-1335
AL-1335
AL-1343
AL-1345
AL-1352
AL-1355
AL-1503
AL-1504
AL-1515
AL-4100
AL-4101
AL-4110
AL-4111
AL-4119
AL-4200
AL-4201
AL-4202
AL-4203
AL-4204
AL-4301
AL-4302
AL-4303
AL-4304
AL-4305
AL-4306
AL-4307
AL-4308
AL-4309
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AL-4310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
AL-4311 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
AL-4312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
AL-4313 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
AL-4318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
AL-4326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
AL-4329 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
AL-4332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
AL-4334 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
AL-4334 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
AL-4335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
AL-4335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
AL-4335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
AL-4336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
AL-4336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
AL-4337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
AL-4337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
AL-4337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
AL-4338 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
AL-4339 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
AL-4340 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
AL-4353 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
AL-4359 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
AL-4800 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
ix
HW0483057
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HW0483057
Appendixes
Appendix 1-1 Internal Layout Drawings . . . . . . . . . . . . . .113
T EA1400N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
T ES165N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
Appendix 2-1 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . .115
T EA1400N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
T ES165N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
Appendix 3-1 CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
T External View of a Typical CPU Unit . . . . . . . . . . . . . . . . . .116
T External View of JZNC-NRK02W-W. . . . . . . . . . . . . . . . . . .117
Appendix 4-1 Power Supply Contactor Unit . . . . . . . . . .118
T JZRCR-NTU01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
T JZRCR-NTU02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
Appendix 5-1 SERVO PACK . . . . . . . . . . . . . . . . . . . . . . . . .119
T HP6 and EA1400N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
T ES165N and HP165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
Appendix 6-1 SERVO PACK for External Axes . . . . . . .120
Appendix 7-1 Brake Release Unit . . . . . . . . . . . . . . . . . . . .121
T External View of JZRCR-NBU05-2 . . . . . . . . . . . . . . . . . . .121
T Internal Connections of JZRCR-NBU05-2 (1/2) . . . . . . . . . .122
T Internal Connections of JZRCR-NBU05-2 (2/2) . . . . . . . . . .123
T Measuring the Output Voltage of the Brake Release Unit . .124
Appendix 8-1 Internal Connections and Alarms of
the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
HW0483057
10/142
HW0483057
AL-0020
CPU COMMUNICATION ERROR: [CPU Board]

The NX100 previously stores the connected CPU boards, and check if each board properly responds on
a startup. This alarm occurs if there is any CPU board which does not properly respond to the NX100.
Sub Code: CPU Board No.
01:
10:
20:
50:
51:
52:
53:
NCP01 (Main CPU board)

Optional board #1
Optional board #2
AXA01/AXA02 (1st AXA board)
AXA01/AXA02 (2nd AXA board)
AXA01/AXA02 (3rd AXA board)
AXA01/AXA02 (4th AXA board)
The alarm occurs.
Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes
A major unconformity occured in

the internal data.
Check the AXA board configuration

setting of the corresponding sub code.
The setting is
correct.
Yes
No
Initialize the NX100 system

configuration.
Alarm?
No
Sub code is any of the numbers

from [50] to [53].
Sub code is [1].
Yes
Alarm?
Reconfigure the control axis in

Maintenance Mode.
No
Yes
Replace the NIF unit, and initialize
the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes
Alarm?
No
Replace the NCP01 board including

CompactFlash. (Refer to Appendix 3-1.)
Yes
Alarm?
No
Replace the CPU rack, and initialize

Yes
Alarm?
No
Alarm?
No
Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
Yes
Alarm?
No
Check the insertion of NIF unit and the cable

connection of NIF unit connector CN01.
(Refer to Appendixes 2-1 and 3-1.)
Yes
Alarm?
No
Check the insertion of the AXA board of

the corresponding sub code and the cable
connection of AXA board connector CN02.
(Refer to Appendix 2-1 and 3-1.)
Yes
Alarm?
No
Replace the AXA board of the corresponding

sub code. (Refer to Appendix 3-1.)
End of corrective
measures
Yes
Alarm?
No

Contact your Yaskawa representative.
Yes
Alarm?
No
End of corrective
measures
HW0483057
11/142
HW0483057
AL-0021
COMMUNICATION ERROR (SERVO): [CPU Board]

The NX100 transfers special commands to operate SERVO units on its startup as well as its regular
operation process. This alarm occurs if there is any communication failure in transferring the special
commands.
50:
51:
52:
53:
The alarm occurs.

Yes
Alarm?
No

The setting is
correct.
Yes
No
Reconfigure the control axis
in Maintenance Mode.
Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No
Replace the NIF unit, and initialize the NX100

system configuration. (Refer to Appendix 3-1.)
Yes
Alarm?
No
End of corrective
measures
HW0483057
12/142
HW0483057
AL-0030
ROM ERROR: [CPU Board]

The NX100 system program (ROM) runs after RAM expansion executed on a startup. This alarm
occurs if there is any failure in the RAM expansion.
01:
10:
20:
50:
51:
52:
53:
NCP01 (Main CPU board)

Optional board #1
Optional board #2
The alarm occurs.

Yes

the internal data.

Yes

configuration.
Alarm?
No

from [50] to [53].
Sub code is [1].
Yes
Alarm?
The setting is
correct.
No
No
Yes

CompactFlash. (Refer to Appendix 3-1.)
Yes
Alarm?
No

Yes
Alarm?
No
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

End of corrective
measures
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
HW0483057
13/142
HW0483057
AL-0060
COMMUNICATION ERROR (I/O MODULE): [I/O Module Slot No.]

The NX100 previously stores the connected I/O modules, and check the presence of each module on a
startup. This alarm occurs if there is any module of which presence cannot be identified.
Sub Code: Slot No. of I/O Module
0:
NIO01/NIO02 (I/O board)
01 to 15:
Serial-bus-connected I/O module
16 to 17:
PCI-connected I/O module
The alarm occurs.

Alarm?
Yes
Sub code is [0].

the internal data.

from [1] to [15].

from [16] to [17].
Check the connections of the cable

of NIF unit connector CN03 and
terminator.
Check if the I/O module of

corresponding slot number is
properly inserted in correct slot.
Yes
Check the insert status of NIF unit,
and reconfigure the I/O module.
Yes
Alarm?
No
Replace the NIO board, and

reconfigure the I/O module.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
No
Alarm?
No
Check the rotary switch setting which

specifies slot numbers of each I/O module.
Yes
Alarm?
No
Check the insert status of NIF unit,

Yes
Alarm?
No
Yes
Alarm?
No
Reconfigure the I/O module.

Yes
Alarm?
No
Replace the I/O module of

corresponding slot number.
Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
End of corrective
measures
End of corrective
measures
HW0483057
14/142
HW0483057
AL-0100 / 0101 / 0102 / 0103
COMMUNICATION ERROR (AXA#1 / #2 / #3 / #4): [Cause No.]

The serial communications between NCP01 (the main CPU board) and AXA01/AXA02 (AXA board) in
the NX100 is softwarily monitored by each board.
This alarm occurs if NCP01 detects an error. The least significant digit of the alarm signifies the AXA
board No. of serial communications; therefore, the station numbers of alarms 0100, 0101, 0102, and
0103 are respectively the 1st AXA board, 2nd AXA board, 3rd AXA board, and 4th AXA board.
Sub Code: Error Cause Data No.
01:
Counter value received from AXA01/AXA02 (AXA board) is invalid.
02:
Counter value received from AXA01/AXA02 (AXIA board) is off by one cycle.
The alarm occurs.

Yes
Alarm?
No

setting of the corresponding alarm No.
The setting is
correct.
Yes
No
Yes
Alarm?
No

switch setting of the corresponding alarm No.
Yes
Alarm?
No

the corresponding alarm No. and the cable
Yes
Alarm?
No

Yes
Alarm?
No

alarm No. (Refer to Appendix 3-1.)
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
HW0483057
15/142
HW0483057
AL-0200
MEMORY ERROR (PARAMETER FILE): [Internal File No.]

The NX100 requires various types of parameters to operate, and performs a check sum during the startup
process to ensure that the parameter files are properly retained. This alarm occurs if the NX100 detects
an error in the check sum.
Sub Code: File No. Managed in NX100
00:
RC parameter
08:
AP parameter
01:
RO parameter
09:
RS parameter
02:
SV parameter
10:
SE parameter
03:
SVM parameter
11:
SVC parameter
04:
SC parameter
12:
AMC parameter
05:
SD parameter
13:
SVP parameter
06:
CIO parameter
14:
MF parameter
07:
FD parameter
15:
SVS parameter
The alarm occurs.

Yes
Alarm?
No
Initialize the parameters

Yes
Alarm?
No
Set the parameters according to
the parameter table on the inner
surface of the NX100 door.
Yes
Alarm?
No

configuration.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
HW0483057
16/142
HW0483057
AL-0210
MEMORY ERROR (SYSTEM CONFIG-DATA): [0]

The NX100 carries the information to start as a system in the SYSTEM CONFIG-DATA file, and performs
a check sum during the startup process to ensure that these files are properly retained. This alarm occurs
if the NX100 detects an error in the check sum.
Sub Code: 0
The alarm occurs.

Yes
Alarm?
No

configuration.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
HW0483057
17/142
HW0483057
AL-0220
MEMORY ERROR (JOB MNG DATA): [Cause No.]

The NX100 carries the user program as data files called JOB, and performs a check sum during the
startup process to ensure that these files are properly retained. This alarm occurs if the NX100 detects
an error in the check sum.
00:
Error occurred during the sum check of the JOB management area
01:
Error occurred during the sum check of the JOB data.
02:
Error occurred during the sum check of the position data (including position variables).
03:
Error occurred during the sum check of the memory play file.
The alarm occurs.

Yes
Alarm?

from [0] to [2].
Sub code is [3].
Initialize the memory play file

Initialize the JOBs

Yes
Alarm?
Yes
No
Alarm?
Yes
No
Alarm?
Yes
No
Alarm?
Alarm?
No
Alarm?
No


Yes
No

CompactFlash.

CompactFlash.
Yes
Alarm?

configuration.

configuration.
Yes
No
Yes
No
Alarm?
No
End of corrective
measures
End of corrective
measures
HW0483057
18/142
HW0483057
AL-0230
MEMORY ERROR (LADDER PRG FILE): [0]

A program software PLC which runs in the NX100 is stored in the ladder program file. The NX100 performs a check sum during the startup process to ensure that these files are properly retained. This alarm
occurs if the NX100 detects an error in the check sum.
Sub Code: 0
The alarm occurs.

Yes
Alarm?
No
Initialize the ladder program

Yes
Alarm?
No

configuration.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
HW0483057
19/142
HW0483057
AL-0300
VERIFY ERROR (SYSTEM CONFIG-DATA): [Cause No.]

The NX100 carries the information to start as a system in data files called "System Configuration Data",
and performs a validity check on the data files if they are properly configured. This alarm occurs if the
NX100 detects an error in the validity check.
02:
CIO parameter error.
04:
Axis-related parameter error.
05:
Sensor-use parameter error.
08:
IO type error (combination impossible to coexist).
The alarm occurs.

Alarm?
Yes
Sub code is [2] or [8].
Sub code is [4].
Reconfigure the I/O module

Yes
Alarm?
No
No
Sub code is [5].

Yes
End of corrective
measures
Alarm?
No
End of corrective
measures

configuration.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
10
HW0483057
20/142
HW0483057
AL-0310
VERIFY ERROR (CMOS MEMORY SIZE): [0]

The NX100 verifies that the NIF board type (CMOS memory size) which is detected during the startup is
the same as the type set at the time of system configuration. This alarm occurs if the NX100 detects an
error in the verification process.
Sub Code: 0
The alarm occurs.

Yes
Alarm?
No

configuration.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
11
HW0483057
21/142
HW0483057
AL-0320
VERIFY ERROR (I/O MODULE): [I/O board Slot No.]

The NX100 verifies that the I/O module which is detected during the startup is the same as the module set
at the time of system configuration. This alarm occurs if the NX100 detects an error in the verification process.
Sub Code: Slot No. of I/O Module
01 to 15:
I/O module connected to serial bus.
16 to 17:
I/O module connected to the PCI bus.
The alarm occurs.

Yes

from [1] to [15].
Alarm?
Check if the I/O module of

corresponding slot number is
properly inserted in correct slot.
Yes
No
Check the rotary switch setting which

specifies slot numbers of each I/O module.
Yes
Alarm?
Alarm?
Alarm?
No
Reconfigure the I/O module.
No
Yes
Alarm?
No

Check the insertion of NIF unit,

Yes
No

from [16] to [17].
Check the connections of the cable

of NIF unit connector CN03 and
terminator.
Yes
Alarm?
No
Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
End of corrective
measures
12
HW0483057
22/142
HW0483057
AL-0330
VERIFY ERROR (SENSOR FUNCTION): [0]

The NX100 verifies that the application parameters are correctly set during a startup process. This alarm
occurs if the NX100 detects an error in the verification process.
Sub code: 0
The alarm occurs.

Yes
Alarm?
No

configuration.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
13
HW0483057
23/142
HW0483057
AL-0400
PARAMETER TRANSMISSION ERROR: [CPU Board]

The parameters required for the AXA board operation is transferred from the NCP01 board. This alarm
occurs if the parameters are not successfully transferred.
50:
51:
52:
53:
The alarm occurs.

Yes
Alarm?
No

The setting is
correct.
Yes
No
Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
14
HW0483057
24/142
HW0483057
AL-0410
MODE CHANGE ERROR: [CPU Board]

The NX100 changes its operation modes during a startup process from the power-on operation until the
startup process completion. Since mode change is required for the peripheral CPU boards as well as the
main CPU board, the NX100 simultaneously performs a process as the mode change process. This
alarm occurs if the mode change is not successfully performed.
50:
51:
52:
53:
The alarm occurs.

Yes
Alarm?
No

Yes
The setting is
correct.
No
Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
15
HW0483057
25/142
HW0483057
AL-0500
SEGMENT PROC NOT READY

To properly operate the manipulator, it is required to complete the processing of operation instructions
within the specified time. This alarm occurs if the processing of operation instructions is not completed
within the specified time.
Sub Code: None
The alarm occurs.

Yes
Alarm?
No
Check the value set for segment

processing time.
The setting is
correct.
Yes
No
Reconfigure the correct segment

processing time.
Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
16
HW0483057
26/142
HW0483057
AL-0900
WATCHDOG TIMER ERROR (NIF BOARD)

The NX100 can safely stop the system with a watchdog function when an error occurred. This alarm
occurs if a watchdog timeout is detected in the NIF board.
Sub Code: None
The alarm occurs.

Yes
Alarm?
No

Yes
Alarm?
No
Replace the CPU rack, and initialize the NX100

Yes
Alarm?
No
End of corrective
measures
17
HW0483057
27/142
HW0483057
AL-0910
CPU ERROR (NCP01): [100]

The NX100 can safely stop the system even in case of an unexpected processing occurred in any board.
This alarm occurs if there is an unexpected processing in NCP01 (the main CPU board).
Sub Code: 100
The alarm occurs.

Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
18
HW0483057
28/142
HW0483057
AL-0930
CPU HANG UP ERROR (NCP01)

The NX100 can safely stop the system even when the power supply voltage suddenly drops. This alarm
occurs if a voltage drop is detected in NCP01 (the main CPU board).
Sub Code: None
The alarm occurs.

Yes
Alarm?
No

CompactFlash.
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
19
HW0483057
29/142
HW0483057
AL-0950 / 0951 / 0952 / 0953
CPU ERROR (AXA#*): [100]

The NX100 can safely stop the system even when the power supply voltage suddenly drops. This alarm
occurs if a voltage drop is detected in NCP01 (the main CPU board).
The least significant digit of the alarm signifies the AXA board No. of serial communications
Alarm
0950:
1st AXA board
0951:
2nd AXA board
0952:
3rd AXA board
0953:
4th AXA board
Sub Code: 100
The alarm occurs.

Yes
Alarm?
No

the corresponding alarm No. and the cable
Yes
Alarm?
No

alarm No. (Refer to Appendix 3-1.)
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
20
HW0483057
30/142
HW0483057
AL-1001
ROM ERROR (AXA01)

This alarm is caused by faulty data in ROM.
A hardware error in the board is considered as a major cause of this alarm. In rare cases, however, the
cause is attributed to a loose connection or noise interference.
Sub Code
1*:
20:
21:
22:
23:
24:
25:
26:
EEPROM checksum error (*: axis No.)

EEPROM WRITE ENABLE error
EEPROM WRITE PROTECT error
EEPROM ERASE error
EEPROM CLEAR error
EEPROM writing error
EEPROM reading error
EEPROM verify error
The alarm occurs.

Yes
Alarm?
No
Remove and reinsert the AXA01 board.

Yes
Alarm?
No
Board connection
failure.
Failure in the AXA01 board is

suspected.
Replace the AXA01 board.
Yes
Alarm?
No
The AXA01 board

failure.
End of corrective
measures
21
HW0483057
31/142
HW0483057
AL-1030
MEMORY ERROR (PARAMETER FILE)

This alarm occurs when an error is detected during total check of parameters.
For a general error recovery, start the NX100 in Maintenance Mode and initialize the parameter file which
caused the memory error, then reload the parameter file stored in an external storage device.
As another possibility, this alarm may have been caused by a failure in CompactFlash card or memory
error in the NCP01 board. In this case, replace the NCP01 board.
Sub Code
00:
RCD, RCxG parameter error
08:
A1P parameter error
01:
ROxG parameter error
09:
RS parameter error
02:
SVD, SVxG parameter error
10:
S1E parameter error
03:
SVMxG parameter error
11:
SVxB parameter error
04:
S1CxG, S2C, S3C, S4C parameter error
12:
AMCxG parameter error
05:
S1D, S2D, S3D, S4D parameter error
13:
SVPxG parameter error
06:
CIO parameter error
14:
MFxG parameter error
07:
FD parameter error
15:
SVxS parameter error
The alarm occurs.
Memory error in the parameter

file; reset the NX100 by turning
Yes
Alarm?
No
Start the NX100 in Maintenance

Mode, and initialize the parameter
file caused the memory error.
Recover the parameter file by reloading

the parameter file stored in an external
storage device.
Yes
Alarm?
No
Failure in the NCP01 board is

suspected.
Replace the NCP01 board.
Yes
Alarm?
No
End of corrective
measures
22
HW0483057
32/142
HW0483057
AL-1031
MEMORY ERROR (MOTION1): [File No. in CMOS]

This alarm occurs when an error is detected in the CMOS files used by MOTION.
For a general error recovery, start the NX100 in Maintenance Mode and initialize the file which caused the
memory error, then reload the file stored in an external storage device.
As another possibility, this alarm may have been caused by a failure in CompactFlash card or memory
Sub Code
01:
02:
03:
04:
05:
06:
07:
08:
09:
20:
21:
22:
23:
24:
25:
26:
27:
28:
29:
30:
31:
32:
33:
34:
35:
36:
37:
38:
39:
Home position calibration file

Tool file
User coordinates file
Robot calibration file
Tool calibration file
Weaving amplitude condition file
Home position correction data file
Conveyor calibration file
Arm and tool interference prevention file
Weaving file
Power Source condition data file
Welding condition auxiliary file
Arc start condition file
Arc end condition file
COMARC condition file
COMARC data file
Path correction condition file
Painting characteristics file
Painting condition file
Multi-layer index file
Multi-layer condition file
Sensor monitoring condition file
Name position file
Conveyor condition file
Press characteristics file
Servo float condition file
Spot welding Power Source condition data file
Air-gun condition file
Motor-gun condition file
40:
41:
42:
43:
44:
45:
46:
47:
48:
49:
50:
51:
52:
53:
54:
55:
56:
57:
58:
59:
60:
61:
62:
63:
64:
Gun pressure file

Dry-spotting gun pressure file
Anticipation OT# output file
Anticipation OG# output file
Handling condition file
Form cut file
Spot (user) I/O allocation file
Linear servo float condition file
Macro definition file
Seal amount correction condition file (spray)
Seal amount correction condition file (undercoat)
Arc monitor file
Motor-gun condition auxiliary file
Job registration table
Painting device condition file
Painting system file
Painting condition file
Paint characteristics file
EVB gun file
Paint filling file
Welding pulse condition file
Clearance file
Linear scale condition file
Gauging sensor condition file
Conveyor condition auxiliary file
The alarm occurs.

Memory error in the condition file;
Reset the NX100 by turning OFF and ON the power.
Yes
Alarm?
No
Start the NX100 in Maintenance Mode, and

initialize the file which caused the memory error.
Recover the file by reloading the parameter file
stored in an external storage device.
Yes
Alarm?
No
Failure in the NCP01 board is suspected.
Replace the NCP01 board. (Refer to Appendix 3-1.)

Yes
Alarm?
No
End of corrective
measures
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AL-1050
SET-UP PROCESS ERROR (SYSCON): [Cause No.]

The system software monitors if the setup of MOTION software is properly complete when the power is
ON.
This alarm occurs if the MOTION software fails to properly complete the setup.
Note that the alarm AL-1051 (SET-UP PROCESS ERROR) occurs in conjunction with this alarm. (For
details, refer to AL-1051.)
01:
Incomplete setup of MOTION
02:
Online error
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1051
SET-UP PROCESS ERROR (MOTION): [Cause No.]

This alarm occurs if setup process of MOTION is not properly complete when the power is ON.
01:
02:
03:
05:
06:
07:
08:
09:
10:
11:
12:
Unable to properly activate the servo control

The position data of when the power supply was turned OFF cannot be transmitted to the servo control section
The servo control section cannot receive the position data of when the power supply was turned OFF
Unable to send a request to turn ON the PG power supply for the mounted axis
Unable to turn ON the PG power supply for the mounted axis
Unable to send a request to prepare a feedback pulse
Unable to prepare a feedback pulse
Unable to send a request to initialize the arithmetic section (ARITH)
Unable to initialize ARITH
Unable to send a request to prepare the current position
Unable to prepare the current position
The alarm occurs.

Yes
Alarm?
No

from [1] to [8].

from [9] to [12].

suspected.

suspected.


Yes
Alarm?
No
Yes
Alarm?
No
End of corrective
measures
End of corrective
measures
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AL-1100
SYSTEM ERROR
This alarm is likely to be caused by failure in the system software, and it occurs when an alarm
unregistered in the system software is detected.
As another possibility, noise interference causes RAM data failure in the NCP01 board, leading to this
alarm.
Sub Code
C: * B: * F: *:
Unregistered sub code (*: numbers)
AL-1101
SYSTEM ERROR (SYSTEM 1)

This alarm is likely to be caused by failure in the system software. The RAM data failure in the NCP01
board may also cause this alarm.
Sub Code
0 to 255:
Internal control error in software
AL-1102
SYSTEM ERROR (SYSTEM 2)

Sub Code
0 to 524:
AL-1103
SYSTEM ERROR (EVENT)

Sub Code
0 to 8:
The alarm occurs.

Yes
Alarm?
No
Check in what circumstance

the alarm occurred.
Occurred immediately after
the software
No
update.
Yes
Restore the version.

Yes
Alarm?
No
End of corrective
measures
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AL-1104
SYSTEM ERROR (CIO)

As a cause of this alarm, I/O module or CIO parameter setting error is suspected.
The alarm condition may be recovered by reconfiguring the I/O module in Maintenance Mode.
As another possibility, the alarm may have been caused by a failure in CompactFlash card or memory
Sub Code
1000_0000: I/O module setting error
The alarm occurs.

Alarm?
Yes
No
Turn OFF the power to the controller.
Check the connections of:

-CN03 connector (for communications) and--CN11
connector (for power supply) of the NIF01 board; and
-Connectors/cables for communications/power supply
of the expanded I/O board.
Yes
Alarm?
No
Start the NX100 in Maintenance Mode,

and set the I/O module.
Yes
Alarm?
No
Failure in the NCP01 board is suspected.
Replace the NCP01 board. (Refer to Appendix 3-1.)

Yes
Alarm?
No
End of corrective
measures
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AL-1105
SYSTEM ERROR (SERVO)

This alarm is caused by noise and control error. Contact your Yaskawa representative if the error
persists even after restarting the NX100. (For each sub code, refer to "NX100 MAINTENANCE MANUAL (RE-CHO-A104)".
The alarm occurs.

Yes
Alarm?
No
Remove and reinsert the AXA01 board.

Yes
Alarm?
Board connection
failure.
No

suspected.
Yes
Alarm?
The AXA01 board

failure.
No
End of corrective
measures
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AL-1200
HIGH TEMPERATURE
This alarm occurs by high temperature inside the controller (CPS power supply unit), which is possibly
caused by cooling fan error. If the error is due to the fan for power supply, the alarm occurs 10 minutes
after turning on the power.
If the error is due to the other fans, the alarm AL-4119 may occur. AL-4119 FAN ERROR (IN CONTROL
BOX) puts out a signal #50017 to activate the alarm 10 hours after the fan malfunction.
Sub Code: None
The alarm occurs.
Check if fan for power supply in the

NX100 is OFF while the NX100 is ON.
Yes
The fan is OFF.
No
Check if the other fans in the NX100
are OFF while the NX100 is ON.
Turn OFF the NX100 power.
Yes
Replace the fan for power supply
in the NX100.
Yes
Alarm?
The fans are OFF.
No
No
Replace the fans in the NX100.

Yes
Alarm?
No
End of corrective
measures
End of corrective
measures
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AL-1204
COMMUNICATION ERROR (IO MODULE)

As a cause of this alarm, I/O board communication error, loose connection of power connector, or I/O
module setting error is suspected.
The alarm condition may be recovered by reconfiguring the I/O module in Maintenance Mode.
As another possibility, the alarm may have been caused by a failure in CompactFlash card or memory
error in the NCP01 board. In this case, replace the controller unit.
Sub Code
0000_0000_0000_0001: NIF board communication error
0000_0000_0000_0010: Communication error in expanded I/O board station 1
The alarm occurs.
Check the connections of:

-CN03 connector (for communications) and--CN11
connector (for power supply) of the NIF01 board; and
-Connectors/cables for communications/power supply
of the expanded I/O board.
Yes
Alarm?
No
External circuit error is suspected.
Check the external circuit, and

turn ON the NX100 power.
Yes
Alarm?
No
End of corrective
measures
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AL-1207
BROKEN B_ON RELAY FUSE (NIF01)

This alarm occurs due to malfunction or blown fuse caused when electrical noise from the power supply
interferes in the BROKEN B_ON RELAY FUSE detection circuit in the NIF01 board. Since the fuse is
mounted to the NIF01 board, replace the controller unit if the alarm is caused by a blown fuse.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0011: Error detected in PLD circuits 1 and 2
AL-1208
BROKEN S_ON RELAY FUSE (NIF01)

This alarm occurs due to malfunction or blown fuse caused when electrical noise from the power supply
interferes in the BROKEN S_ON RELAY FUSE detection circuit in the NIF01 board. Since the fuse is
mounted to the NIF01 board, replace the controller unit if the alarm is caused by a blown fuse.
Sub Code
AL-1209
EXTERNAL WDT BROKEN (NIF01)

This alarm occurs due to malfunction or failure caused when electrical noise from the power supply
interferes in the EXTERNAL WDT BROKEN detection circuit in the NIF01 board. Replace the NIF01
board in case of failure.
Sub Code
The alarm occurs.

Yes
Alarm?
No
Failure in the NIF01 board is

suspected.
Replace the NIF01 board, and initialize

Yes
Alarm?
No
End of corrective
measures
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AL-1210
SERIAL COMMUNICATION TOGGLE CHECK ERROR (NIF01)

interferes in the SERIAL COMMUNICATION TOGGLE CHECK ERROR detection circuit in the NIF01
board. Replace the NIF01 board in case of failure.
Sub Code
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1211
INPUT COMPARISON ERROR (NIF01):

This alarm occurs if the user wiring of the signal corresponding to the sub code is false, or if there is a
malfunction/failure caused by noise from the power supply in the NIF01 board.
If the sub code is not on the following list, malfunction/failure by noise from the power supply in the NIF01
board is suspected.
If the alarm is due to failure in the NIF01 board, replace the controller unit.
0000_0000_0000_0001:
0000_0000_0000_0010:
0000_0000_0000_0100:
0000_0000_0000_1000:
0000_0000_0001_0000:
0000_0000_0010_0000:
0000_0000_1000_0000:
0000_0010_0000_0000:
0000_0100_0000_0000:
0000_1000_0000_0000:
0100_0000_0000_0000:
1000_0000_0000_0000:
PBESP signal
PPESP signal
EXESP signal
ERRCPU signal
SYSRDY signal
SAF_F signal
EXSVON signal
MAINTE signal
DSW signal
EXDSW signal
SSP signal
FST signal
The alarm occurs.

Yes
Alarm?
No

Check the wiring related to the signal
that caused the alarm.
Yes
Alarm?
No
Connection failure
Back up the CMOS data, and

turn OFF the NX100 power.
Remove and reinsert the NIF board.
Yes
Alarm?
No
Connection failure
Failure in the NIF board is suspected.

Replace the NIF board, and initialize
Yes
Alarm?
No
NIF board failure
End of corrective
measures
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AL-1212
PLD MUTUAL MONITOR ERROR (NIF01)

interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board.
In case of failure, replace the controller unit.
Sub Code
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1213
MUTUAL WDT ERROR (NIF01)

If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211 for
troubleshooting.
When this alarm occurs independently, malfunction or failure caused by noise from the power supply in
the NIF01 board is suspected.
Sub Code
The alarm occurs.
Check if AL-1211 occurred

in conjunction with this alarm.
AL-1211 occurred
simultaneously.
Yes
No
Refer to the AL-1211 for troubleshooting.
Yes
Alarm?
No
Failure in the NIF01 board is suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1214
PBESP RELAY STICKING

This alarm occurs when the PBESP relay sticking detection circuit in the NIF01 board malfunctions due
to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is
detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.
Sub Code
AL-1215
PPESP RELAY STICKING

This alarm occurs when the PPESP relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
AL-1216
EXESP RELAY STICKING

This alarm occurs when the EXESP relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1217
S_ON RELAY STICKING

This alarm occurs when the S_ON relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
AL-1218
B_ON RELAY STICKING

This alarm occurs when the B_ON relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1219
ANOTHER PLD EXT WDT ERROR (NIF01)

If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211
troubleshooting.
Sub Code
The alarm occurs.

AL-1211 occurred
simultaneously.
Yes
No
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
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AL-1223
PLD MONITOR1 ERROR (NIF01)

interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board.
In case of failure, replace the NIF01 board.
Sub Code
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1224

If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211
troubleshooting.
Sub Code
The alarm occurs.

AL-1211 occurred
simultaneously.
Yes
No
Yes
Alarm?
No

Yes
Alarm?
No
End of corrective
measures
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AL-1225

This alarm occurs due to malfunction or failure caused when electrical noise from the power supply is in
the external WDT broken detection circuit in the NIF01 board.
In case of failure, replace the NIF01 board.
Sub Code
The alarm occurs.

Yes
Alarm?
No

suspected.

Yes
Alarm?
No
End of corrective
measures
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AL-1300
SERVO CPU SYNCHRONIZING ERROR

The NX100 system performs serial communications between the main CPU board and the servo control
board, checking the synchronization of the servo regular process and the communication process. This
alarm occurs if any synchronization error is detected.
As a major cause of this alarm, a hardware error in the board is suspected. In rare cases, however, the
cause is attributed to a loose connection, noise interference, or internal data inconsistency.
Sub Code: None
The alarm occurs.

Yes
Alarm?
No
Check the connections (removal and

reinsertion) of the following connectors:
xAXA01-CN02.
xNIF01-CN01.
Yes
Alarm?
No
Connection failure
Remove and reinsert the AXA01

board. (Refer to Appendix 3-1.)
Yes
Alarm?
No
Connection failure

suspected.
Yes
Alarm?
No
AXA01 board
failure
End of corrective
measures
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AL-1301
COMMUNICATION ERROR (SERVO)

This alarm occurs if there is a communication error between the robot interface board (NIF01) and the
servo control board (AXA01).
As a major cause of this alarm, a loose connection is suspected. In rare cases, however, the cause is
attributed to a noise interference, defective board/cable, or internal data inconsistency.
Sub Code
0:
1:
2:
3:
4:
Communication status error

Watchdog timer error
JL040 alarm
Communication status error
Data consistency error
The alarm occurs.

Yes
Alarm?
No

xAXA01-CN02.
xNIF01-CN01.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Connection failure

suspected.
Yes
Alarm?
No
AXA01 board
failure
Replace the NIF01 unit, and initialize

Yes
Alarm?
No
NIF01 unit failure
End of corrective
measures
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AL-1302
COMMUNICATION ERROR (SERVO I/O)

This alarm occurs if there is a communication error between the servo control board (AXA01) and the
power-on unit (NTU01).
attributed to a noise interference, defective board/cable, or internal data inconsistency.
Sub Code
1: Communication loop back
**10: Communication loop back (**: AXA board number of the connected unit)
2: No interrupt
4: Watchdog timer error
5: Command timeout
**11: Address matching error

**12: Servo I/O communication buffer error (**: AXA board number of the
connected unit)
The alarm occurs.

Yes
Alarm?
No

xAXA01-CN03.
xNTU01-CN01/CN02.
Yes
Alarm?
No
Connection failure

xNBB01(backboard)-CNTU.
xNTU01-CN03.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Connection failure

suspected.
Yes
Alarm?
No
AXA01 board
failure
Replace the NIF01 (or NTU02) unit,

and initialize the NX100 system
configuration. (Refer to Appendix 3-1.)
Yes
Alarm?
No
NIF01 unit failure
End of corrective
measures
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AL-1303
ARITHMETIC ERROR (SERVO)

This alarm occurs if a control-related parameter calculated from the input parameter (tool file) is not
within the specified range.
Sub Code
The alarm occurs.
Check if the tool file has been modified.

No
The tool file has been

modified.
Yes
Reexamine the tool file setting.

(Check the units of mass and center
of gravity, positive/negative signs.)
Yes
Alarm?
No
Tool file
setting error
End of corrective
measures
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AL-1304
EX-AXIS BOARD NOT INSTALLED

This alarm occurs during operation if the external axis board which has not been installed is assigned,
or if the board is defective. In rare cases, the cause is attributed to a loose connection or noise
interference.
Sub Code: None
The alarm occurs.

Yes
Alarm?
No
Verify that the AXB01 board is installed.

Yes
The AXB01 board is

installed.
No

Install the AXB01 board.
Yes
Alarm?
No

Check the cable connection between
the AXA01 board and AXB01 board.
Yes
Alarm?
No
Connection failure
Failure in the AXB01 board is

suspected.
Replace the AXB01 board.
Yes
Alarm?
No
AXB01 board
failure

suspected.

Yes
Alarm?
No
AXA01 board
failure
End of corrective
measures
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AL-1306
AMPLIFIER TYPE MISMATCH: [Physical Axis Bit]

When the controller power is ON, the NX100 system checks the current capacity of the SERVOPACK
amplifier in the servo control circuit board. This alarm occurs if there is a difference in the capacity
between the set value and the mounted amplifier.
If the alarm occurs during operation, a parameter setting error or board failure is suspected. In rare
cases, the cause is attributed to a loose connection or noise interference.
Sub Code: Signifies the axis in which the alarm occurred
The alarm occurs.

Yes
Alarm?
No
Check if the amplifier has been

replaced.
The amplifier has been
replaced.
No
Yes
Check the parameters of the current
capacity of amplifier.
(Parameter #: SVPxG232 and greater.)
Yes
Alarm?
No
Amplifier selection
error

Check the cable connections between
AXA01, AXB01, and amplifier:
xAXA01-CN04.
xAmplifier-CN04, -CN05, -CN06.
Yes
Alarm?
No
Connection failure
Failure in the amplifier is suspected.

Replace the amplifier.
Yes
Alarm?
No
Amplifier failure
Failure in the circuit board AXA01

and/or AXB01 is suspected.
Replace the AXA01 and/or AXB01
Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1307
ENCODER TYPE MISMATCH: [Physical Axis Bit]

When the controller power is ON, the NX100 system checks the encoder type of the manipulator in the
servo control circuit board. This alarm occurs if there is a difference between the set value and the
mounted encoder.
Since the proper encoder has been configured before shipment, an encoder error is suspected as the
cause of this alarm occurrred during operation. In rare cases, the cause is attributed to a loose
connection, defective board, or noise interference.
The NX100 system identifies the 16-bit and 17-bit serial encoder types; the resolutions of absolute
encoders of which motor types are SGMUU-UUA1A and SGMUU-UUA2A are respectively 16 bits
and 17 bits.
The alarm occurs.

Yes
Alarm?
No
Check if the motor has been

replaced.
The motor has been
replaced.
No
Yes
Check the encoder type. (The motor
type before and after the replacement.)
Yes
Alarm?
No
Mismatched
encoder type

AXA01, AXB01, and encoder:
Yes
Alarm?
No
Connection failure
Failure in the encoder is suspected.
Replace the motor of the subject axis.

Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1308
CONVERTER TYPE MISMATCH: [Physical Converter Bit]

When the controller power is ON, the NX100 system checks the converter type. This alarm occurs if
there is a difference between the set value and the mounted converter type.
If the alarm occurs during operation, a board failure is suspected. In rare cases, the cause is attributed to
a loose connection or noise interference.
Sub Code: Signifies the converter in which the alarm occurred
The alarm occurs.

Yes
Alarm?
No
Check if the converter has been

replaced.
The converter has been
replaced.
No
Yes
Check the parameters of the current

capacity of converter.
(Parameter #: SVCxB060 and greater.)
Yes
Alarm?
No
Converter
selection error

AXA01, AXB01, and converter:
Yes
Alarm?
No
Connection failure
Failure in the converter is suspected.
Replace the converter.

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1309
HARDWARE ERROR (CONVERTER): [Physical Converter Bit]
AL-1310
CHARGE ERROR (CONVERTER): [Physical Converter Bit]
AL-1311
A/D DETECTION ERROR (CONVERTER): [Physical Converter Bit]
AL-1312
ID ERROR (CONVERTER): [Physical Converter Bit]

The NX100 system checks internal state of converter in the converter board.
This alarm occurs if any malfunction is found.
Sub Code: Signifies the converter in which the alarm occurred
The alarm occurs.
Yes
Alarm?
No
Check if the converter alarm is

indicated by the illuminated red
LED when the servo power is ON.
Red LED is
illuminated.
No
Yes

Yes
Alarm?
No
Converter failure
End of corrective
measures
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AL-1325
COMMUNICATION ERROR (ENCODER)

The NX100 system performs serial communications between controller and encoder. This alarm occurs if
the system fails to establish the communications.
If the alarm occurs during operation, a communications disconnection due to a connection error of
encoder cable is suspected. In rare cases, the cause is attributed to a noise interference, encoder malfunction, or defective board.
The alarm occurs.

Examine which axis caused the alarm.
Robot axis
Which axis?
External axis
Continued on
the next page.

Yes
Alarm?
No

Check the cable connection between
AXA01-CN07 and encoder.
Yes
Alarm?
Connection failure
No

Yes
Alarm?
Connection failure
No
Encoder failure is suspected.

Replace the defective motor (encoder).
Yes
Alarm?
No
Encoder failure

suspected.
Encoder cable disconnection is
suspected.
Replace the encoder cable.
Yes
Alarm?

Yes
Alarm?
No
AXA01 board
failure
No
Cable failure
End of corrective
measures
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AL-1325
COMMUNICATION ERROR (ENCODER)
Continued from
the previous page.
Yes
Alarm?
No

AXB01 board and encoder:
xAXB-CN08.
xEV1SV-CNP2, -CN01, -CN02.
Yes
Alarm?
No
Connection failure

Remove and reinsert the AXB01
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Encoder failure
Failure in the AXB01 board is

suspected.
Yes
Alarm?
No
AXB01 board
failure
End of corrective
measures
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AL-1326
DEFECTIVE ENCODER ABSOLUTE DATA

When the controller power is ON, the NX100 system checks the encoder data. This alarm occurs if the
encoder data exceeds the set value.
Under normal operating condition, the internal data does not exceed the set value; therefore, if the alarm
occurs during operation, encoder error is suspected as an alarm cause. In rare cases, the cause is attributed to a loose connection, encoder malfunction, or noise interference.
The alarm occurs.

Yes
Alarm?
No

the AXA01 board, AXB01 board,
and encoder.
Yes
Alarm?
No
Connection failure

and AXB01 boards.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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HW0483057
AL-1327
ENCODER OVER SPEED

When the controller power is ON, the NX100 system checks the encoder data. This alarm occurs if any
axis moves (i.e. falls by its own weight), or an encoder rotation speed of 400 rpm or more is detected during the power-ON process.
Encoder error is suspected if the alarm occurs when the manipulator is in halt condition.
For recovery, turn ON the control power when the manipulator is in a halt condition; if the alarm occurs,
replace the motor of the subject axis.
The alarm occurs.

Check if any axis moves when
the SERVO ON process.
Has any axis
moved?
No
Yes
Check if the axis is equipped
with a brake.
Brake equipped
axis?
Yes
No
Turn OFF the servo power at the position
where the axis does not move.
Yes
Alarm?
No

and encoder.
Yes
Alarm?
Connection failure
No

Yes
Alarm?
Encoder failure
No
End of corrective
measures
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HW0483057
AL-1328
DEFECTIVE SERIAL ENCODER

there is an error in the internal data of the encoder.
If the alarm occurs during operation, defect in the encoder is suspected as a cause. In rare cases, the
alarm cause is attributed to a noise interference or defective board.
The alarm occurs.

Yes
Alarm?
No

and encoder.
Yes
Alarm?
No
Connection failure

Remove and reinsert the boards
AXA01 and AXB01.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
55
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HW0483057
AL-1329
DEFECTIVE SERIAL ENCODER COMMAND

the operation in response to the encoder command is a malfunction.
alarm cause is attributed to a noise interference or defective board.
The alarm occurs.

Yes
Alarm?
No

and encoder.
Yes
Alarm?
No
Connection failure

Remove and reinsert the boards
AXA01 and AXB01.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1330
MICRO PROGRAM TRANSMIT ERROR

When the NX100 power is ON, the SERVO software transfers a microprogram which controls an electric
current to JL056 (the current-limiting LSI). This alarm occurs if any inconsistency is found in verification
performed after the transfer. The cause for the alarm is a defective board.
The alarm occurs.

Yes
Alarm?
No
Failure in the AXA01 board and

AXB01 board is suspected.

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1335
INCOMPLETE ENCODER RESET

This alarm occurs when reset operation to recover from the encoder backup error did not complete.
As a cause of the alarm, a defective battery line (poor connection, voltage reduction) is suspected.
Flow Chart A
The alarm occurs.

Robot axis
Which axis?
Go to B
External axis
Examine how many axes were

involved in the alarm.
Single axis
Single or maltiple
axes?
Multiple axes
Loose connection or disconnection

of the encoder battery line inside
the manipulator is suspected.
Poor connection in the battery system or

reduced battery power is suspected.
Check the battery connection of the voltage

converter board of manipulator.
Check if the encoder battery line

connectors inside the manipulator
are properly connected.
Yes
Alarm?
No
Go to C
Yes
Connection failure
Alarm?
No
Failure in the battery is suspected.
Replace the battery inside

the manipulator.
Yes
Alarm?
No

Battery failure
Yes
Disconnected?
Alarm?
No
Encoder failure
Yes
Replace the encoder battery line.

Yes
Alarm?
Failure in the AXA01 board is suspected.
Check for disconnection of the encoder

battery line inside the manipulator.
No
Connection failure
No
Cable failure
Yes
Alarm?
No
End of corrective
measures
AXA01 board
failure
End of corrective
measures
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AL-1335

Flow Chart B
Continued from A
Poor connection of the encoder

battery line for external axis, or
Check the battery voltage of external axis.

Yes
Alarm?
No
Battery failure

Check if the connectors of the
external axis encoder battery
line are properly connected.
Yes
Alarm?
No
Connection failure

Check for disconnection of the
external axis encoder battery line.
Disconnected?
No
Yes

Yes
Alarm?
No
Cable disconnection

Yes
Alarm?
No
Encoder failure
Failure in the AXB01 board is suspected.

Yes
Alarm?
No
AXB01 board
failure
End of corrective
measures
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AL-1335

Flow Chart C
Continued from A

Yes
Alarm?
No
Connection failure

the manipulator.
Yes
Alarm?
No
Battery failure


Yes
Alarm?
No
Connection failure

No
Disconnected?
Yes

Yes
Alarm?
No
Cable disconnection
End of corrective
measures
Go to D
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AL-1335

Flow Chart D
Continued from C

Yes
Alarm?
No
Encoder failure

Yes
Alarm?
No
AXA01 board
failure
End of corrective
measures
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AL-1343
COMMUNICATION ERROR (CONVERTER)

The NX100 system performs serial communications between the servo control board and the converter.
This alarm occurs if there is an error in the serial communications.
attributed to a noise interference, defective circuit board, or internal data inconsistency.
Sub Code
*01: Communication status error (*: converter No.)
*02: Command timeout (*: converter No.)
*03: Sent buffer FULL (*: converter No.)
*04: CRC-16 error (*: converter No.)

*05: Error code received (*: converter No.)
*06: Received command error (*: converter No.)
The alarm occurs.

Yes
Alarm?
No
Turn ON the converter power.

Yes
Alarm?
No

xAXA01-CN01.
xAXB01-CN08.
xConverter-CN10.
xEX1SV-CNP2, -CN1.
(Refer to Appendix 2-1, 5-1, and 6-1.)
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure

Yes
Alarm?
No
AXA01 board
failure
End of corrective
measures
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AL-1345
SAFETY CIRCUIT SIGNAL UNMATCH (SERVO): [XYY]

This alarm occurs if unmatched signal is detected in the double-check of the receive data to the powerON unit.
Sub Code: XYY (Signifies the power-ON unit No. and unmatched signal No.)
X: Power-ON unit
0:
1:
2:
3:
4:
5:
Power-ON unit1
Power-ON unit2
Power-ON unit3
Power-ON unit4
Power-ON unit5
Power-ON unit6
(TU#1)
(TU#2)
(TU#3)
(TU#4)
(TU#5)
(TU#6)
YY: Unmatched signal

01:
02:
03:
04:
05:
06:
07:
08:
09:
10:
11:
KMMA signal unmatched error

SVMAIN signal unmatched error
SVMAIN1/2 signal unmatched error
IORDY signal unmatched error
ONEN signal unmatched error
FUCUT signal unmatched error
SHOCK1 signal unmatched error
EXOT signal unmatched error
OT signal unmatched error
TUSONER signal unmatched error
SVCMPER signal unmatched error
12: TCER signal unmatched error

13: SON_OUT signal unmatched error
14: BRRVER signal unmatched error
60:
61:
62:
63:
64:
65:
66:
Error due to unmatched output signal for servo board failure

Error due to unmatched signal for the main contactor state (closed contact)
Error due to unmatched signal for the main contactor state (open contact)
Error due to unmatched input signal for the main contractor control relay
Error due to unmatched input signal for the OT recovery
Error due to unmatched input signal for the external WDT
Error due to unmatched 1FB input signal: the brake release control signal
The alarm occurs.

Yes
Alarm?
No
Check the wiring related to the signal

in which the error occurred.
Yes
Alarm?
No
Connection failure

Failure in the power-ON unit
(board) is suspected.
Replace the power-ON unit (board).
Yes
Alarm?
No
Power-ON unit
failure
End of corrective
measures
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AL-1352
SERIAL CORRECTION FAILED

The NX100 system controls the manipulator based on the position data from encoder. If a communication
error occurs in a control cycle, the system controls the manipulator in accordance with the previous position data checking the compensation data. This alarm occurs if the compensation data is not within the
specified value.
alarm cause is attributed to a loose connection, defective board, or noise interference.
The alarm occurs.

Yes
Alarm?
No

Check the cable connections
(insert/reinsert) between the AXA01
board, AXB01 board, and encoder.
Yes
Alarm?
No
Connection failure
Encoder cable disconnection

is suspected.
Replace the encoder cable.

Yes
Alarm?
No
Cable failure

Yes
Alarm?
No
Encoder failure

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1355
SERIAL ENC MULTITURN LIMIT ERR

When the controller power is ON, the NX100 system checks the encoder multi-turn quantity. This alarm
occurs if the malti-turn quantity data is not within the normal range.
alarm cause is attributed to a loose connection, defective board, or noise interference.
The alarm occurs.

Yes
Alarm?
No

(insert/reinsert) between the AXA01
board, AXB01 board, and encoder.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-1503
INPUT COMPARISON ERROR (SERVO I/O)

This alarm occurs if input comparison error is sent from the TU circuit board.
Sub Code: -The alarm occurs.

Yes
Alarm?
No
Connection failure
TU circuit board failure is suspected.
Replace the TU circuit board.

Yes
Alarm?
No
TU circuit
board failure
End of corrective
measures
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AL-1504
TUSON RELAY STICKING (SERVO I/O)

This alarm occurs if TUSON relay breakdown is sent from the TU circuit board.

Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
TU circuit
board failure
End of corrective
measures
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AL-1515
SON_OUT RELAY STICKING (SERVO)

This alarm occurs if SON_OUT relay sticking is sent from the TU circuit board.

Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
TU circuit
board failure
End of corrective
measures
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AL-4100
OVERRUN (ROBOT AXIS)

This alarm occurs if the manipulator overrun signal is detected.
Since this overrun signal is short-circuited to disable the alarm before shipment, a cable disconnection or
defective board is suspected as the alarm cause.
Sub Code: Signifies the physical No. of contactor in which the alarm occurred
01: Power-ON unit
The alarm occurs.

Yes
Alarm?
No

Check the connection of:
xNTU-CN07.
Yes
Alarm?
No
Connection failure
Remove and reinsert the power-ON

unit (NTU01).
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Connection failure
Failure in the NTU01 or AXA01

board is suspected.
Replace NTU01.
Yes
Alarm?
No
Board failure

Yes
Alarm?
No
Board failure
End of corrective
measures
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AL-4101
OVERRUN (EXTERNAL AXIS)

This alarm occurs if the overrun signal of external axis is detected.
Since this overrun signal is short-circuited to mask the alarm before shipment, a defective cable or board
is suspected as the alarm cause.
01: Power-ON unit
The alarm occurs.

Yes
Alarm?
No

xNTU-CN06.
Yes
Alarm?
No
Connection failure

unit (NTU01).
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Connection failure
Failure in NTU01 or AXA01

board is suspected.
Replace NTU01.
Yes
Alarm?
No
Board failure

Yes
Alarm?
No
Board failure
End of corrective
measures
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AL-4110
SHOCK SENSOR ACTIVATION

This alarm occurs if the shock sensor signal is detected.
Since this overrun signal is short-circuited to mask the alarm before shipment, a defective cable or board
is suspected as the alarm cause.
Sub Code: --
The alarm occurs.

Yes
Alarm?
No

xNTU-CN07.
Yes
Alarm?
No
Connection failure

unit (NTU01).
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Connection failure

board is suspected.
Replace NTU01.
Yes
Alarm?
No
Board failure

Yes
Alarm?
No
Board failure
End of corrective
measures
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AL-4111
BRAKE FUSE BREAKDOWN

The NX100 system checks the brake output relay fuse of NTU01. This alarm occurs if the brake fuse
blows out.
As a cause of the alarm, loose connection or noise interference is suspected as well as failure in the
NTU01 board.
Sub Code: None
The alarm occurs.

Yes
Alarm?
No

Check the connection of AXA-CN03
on the AXA01 board.
Yes
Alarm?
No
Connection failure

Check the connection of NTU-CN01
on the NTU01 board.
Yes
Alarm?
No
Connection failure

Remove and reinsert the NTU01
board (Refer to Appendix 4-1.)
Yes
Alarm?
No
Connection failure

board (Refer to Appendix 3-1.)
Yes
Alarm?
No
Connection failure

board is suspected.
Replace NTU01.
Yes
Alarm?
No
Board failure

Yes
Alarm?
No
Board failure
End of corrective
measures
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AL-4119
FAN ERROR (IN CONTROL BOX): [XY]

As a cause of this alarm, failure in cooling fan is suspected; AL-1200 occurs if the fan for power supply
malfunctions, and if the other fan malfunctions, AL-4119 may occur.
AL-4119 FAN ERROR (IN CONTROL BOX) puts out a signal #50017 to activate the alarm 10 hours after
the fan malfunction.
Related Alarm: AL-1200
AL-1514
AL-4340
Sub Code: XY (Signifies the servo board No. and power-ON unit No.)
X: Servo board
1:
2:
3:
4:
Servo board
Servo board
Servo board
Servo board
Y: Power-ON unit
1 (SV#1)
2 (SV#2)
3 (SV#3)
4 (SV#4)
1:
2:
3:
4:
Power-ON unit1 (TU#1)

5: Power-ON unit5 (TU#5)

6: Power-ON unit6 (TU#6)
The alarm occurs.
Replace the fan for power supply

in the NX100.
Yes
Alarm?
No
End of corrective
measures
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AL-4200
SYSTEM ERROR (FILE DATA)

This alarm occurs if abnormal internal data is detected during the access to file data.
As a major cause of the alarm, system software malfunction is suspected; as another possibility, an internal RAM data error also may cause the alarm.
Sub Code
01 to 23: Signifies the internal software error
AL-4201
SYSTEM ERROR (JOB)

This alarm occurs if abnormal internal data is detected during the access to the job data of MOTION.
Sub Code
-1 to -63: Signifies the internal software error
AL-4202
SYSTEM ERROR (JOB)

This alarm occurs if abnormal internal data is detected during the access to the job data of operating/editing software.
Sub Code
The alarm occurs.

Alarm?
Yes
No

the alarm occurred.
the software
update.
Yes
No
Restore the previous software version.

Yes
Alarm?
No
End of corrective
measures
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AL-4203
SYSTEM ERROR (POSITION DATA)

This alarm occurs if abnormal internal data is detected during the access to the position data of MOTION.
Sub Code
-1 to -11: Signifies the internal software error
AL-4204
SYSTEM ERROR (POSITION DATA)

This alarm occurs if abnormal internal data is detected during the access to position data.
Sub Code
The alarm occurs.

Yes
Alarm?
No

the alarm occurred.
the software
update.
No
Yes
Restore the previous software version.

Yes
Alarm?
No
End of corrective
measures
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AL-4301
CONTACTOR ERROR
The NX100 system checks the status of the NTU01 contactors. This alarm occurs if there is an inconsistency between the control output and contactor status.
As a cause of the alarm, the NTU01 board failure or loose connection is suspected; in rare cases, the
alarm may be caused by a noise interference.
NOTE
Before performing a 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.
The alarm occurs.

Yes
Alarm?
No
Check if the contactors (1KM and

2KM) are open, and not damaged
by melting or sticking.
Yes
Alarm?
No
Contactor damage
Failure in the NTU01 board

is suspected.
Replace the NTU01 board.

Yes
Alarm?
No
NTU01 board
failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4302
BRAKE CIRCUIT ERROR

The NX100 system checks the brake status of NTU01. This alarm occurs if there is an inconsistency
between the control output and brake status.
As a cause of the alarm, the NTU01 board failure is suspected.
NOTE
Before performing a 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.
The alarm occurs.

Yes
Alarm?
No
Check for damage in the relay circuit

(K8, K14, K23) of the NTU01 board.
Yes
Alarm?
No
Relay circuit
failure

is suspected.

Yes
Alarm?
No
NTU01 board
failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4303
CONVERTER READY SIGNAL ERROR

The NX100 system checks the converter status. This alarm occurs if the ready state signal of converter is
not ON after a certain time period from SERVO ON.
As a cause of the alarm, a failure in the circuit board NTU01, AXA01 or AXB01, or converter is suspected;
as another possibility, a loose connection also may cause the alarm. In rare cases, the alarm may be
caused by a noise interference.
Sub Code: Signifies the physical No. of converter in which the alarm occurred
The alarm occurs.

Yes
Alarm?
No

the AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes
Alarm?
No
Connection failure
Check if the contactors

1KM and 2KM are ON.
Yes
Check if the CHARGE lamp illuminates
when the servo power is ON.
No
The lamp
illuminates.
Yes
The contactors
are ON.
No
Check if the contactors 1KM and

2KM are not damaged by melting
or sticking. (Refer to Appendix 4-1.)
Yes
Alarm?
No
Converter failure is suspected.

is suspected.

(Refer to Appendix 5-1, 6-1.)

Yes
Alarm?
No
Converter failure
Yes
Alarm?
No
Contactor damage
NTU01 board
failure

End of corrective
measures

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4304
CONVERTER INPUT POWER ERROR

The NX100 system checks the converter status. This alarm occurs if the ready state signal of converter is
not ON after a certain time period from SERVO ON.
As a cause of the alarm, a failure in the circuit board NTU01, AXA01 or AXB01, or converter is suspected;
as another possibility, a loose connection also may cause the alarm. In rare cases, the alarm may be
caused by a noise interference.
The alarm occurs.

Yes
Alarm?
No
Check if the contactors

1KM and 2KM are ON.
The contactors
are ON.
Yes
No
Check if the contactors 1KM and
2KM are not damaged by melting
or sticking.
Yes
Alarm?
No
Contactor damage

is suspected.
Yes
Alarm?
No
NTU01 board
failure
Check the connections between

NTU01 and converter:
xNTU01-1X.
xEX1SV-CNP1.
Yes
Alarm?
No
Connection failure

The lamp
illuminates.
No
Yes

(Refer to Appendixes 5-1, 6-1.)
Yes
Alarm?
No
Converter failure
End of corrective
measures
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AL-4305
CONVERTER CIRCUIT CHARGE ERROR

The NX100 system checks the charge status of converter. This alarm occurs if the ready state of converter is not achieved within a certain time period.
As a cause of the alarm, a failure in the Converter1 board is suspected.
The alarm occurs.

Yes
Alarm?
No

The lamp
illuminates.
No
Yes

(Refer to Appendixes 5-1, 6-1.)
Yes
Alarm?
No
Converter failure
End of corrective
measures
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AL-4306
AMPLIFIER READY SIGNAL ERROR

This alarm occurs is the amplifier READY signal is OFF while the servo power is turned ON.
As a cause of the alarm, a failure in the servo control circuit board, converter, and/or amplifier is suspected.
The alarm occurs.

Yes
Alarm?
No
Check the cables for control power

of converter and amplifier.
Yes
Alarm?
No
Connection failure
Check if the amplifier READY LED

(green) illuminates when the servo is ON.
No
Illuminates?
Yes
Failure in the primary power

supply is suspected.
Replace the primary power supply.

Yes
Alarm?
No
Primary power
supply failure

Replace the amplifier
Yes
Alarm?
No
Amplifier failure

between AXA01, AXB01, and amplifier:
xAXA-CN04.
xAmplifier-CNP4, -CNP6.
xConverter-CN101, -CN102.
Yes
Alarm?
No
Connection failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4307
SERVO ON SPEED ERROR

This alarm occurs if any manipulator axis moves (or any motor operates) when the servo power is ON.
The alarm occurs.

Yes
Alarm?
No
Turn ON the servo power after 5 or more

seconds from the alarm occurrence.
Yes
Alarm?
No

Check the connection of the SERVO
PACK motor power line connector.
Yes
Alarm?
No
Loose connector
Check the power cable connection

of the manipulator cable.
Yes
Alarm?
No
Loose connector
Check the cable connection

between AXA01 and encoder.
Yes
Alarm?
No
Connection failure
Failure in the AXA01 board

is suspected.
Yes
Alarm?
No
Circuit board failure
End of corrective
measures
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AL-4308
VOLTAGE DROP (CONVERTER)

This alarm occurs if there is any error in the charge status of converter when the servo power is ON.
As a cause of the alarm, a failure in the converter, primary power output, or amplifier is suspected. In rare
cases, the alarm may be caused by a noise interference.
The alarm occurs.

Yes
Alarm?
No

the AXA01, AXB01, and converter.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
Circuit board failure
End of corrective
measures
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AL-4309
DEFECTIVE ENCODER INTERNAL DATA

This alarm occurs if there is an internal parameter error in serial encoder.
To recover from the alarm status, reset the alarm, recalibrate the home position, then restart the NX100.
If unable to restore the normal condition, replace the motor causing the alarm.
The alarm occurs.

Yes
Alarm?
No

the AXA01, AXB01, and encoder.
Yes
Alarm?
No
Connection failure

Replace the defective motor
(encoder).
Yes
Alarm?
No
Encoder failure
End of corrective
measures
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AL-4310
ENCODER OVERHEAT
This alarm occurs if there is a failure in a motor (for motor gun) which is not equipped with a serial
encoder.
The encoder monitors its own temperature with a thermometer; if the temperature exceeds the specified
value, the alarm occurs.
As a cause of the alarm, overloaded encoder status or effect of the ambient environmental temperature is
suspected. In rare cases, the alarm may be caused by a defective motor gun axis.
The alarm occurs.

Yes
Alarm?
No
Turn OFF the NX100 power for approx.

10 minutes, then turn it ON again.
Yes
Alarm?
No
Overheated
encoder
Check if the ambient temperature

is 45C or less.
Yes
The temperature is
45C or less.
No
Lower the ambient temperature

to 40C or less.
Yes
Alarm?
No
High ambient
temperature

(encoder).
Yes
Alarm?
No
Encoder failure
Failure in the AXB01

board is suspected.
Yes
Alarm?
No
AXB01 board
failure
End of corrective
measures
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AL-4311
ENCODER BACK-UP ERROR

If this alarm occurs, the cumulative rotation amount data in the motor subsequently disappears.
When operating the manipulator after performing the troubleshooting procedure, calibrate the home position with due consideration to the P-point maximum envelope of manipulator.
The alarm occurs.

Clear the alarm with
Yes
Alarm?
No
Check if AL-4314 (battery error)

occurred in conjunction with this alarm.
No
AL-4314 occurred
simultaneously.
Yes
Replace the battery of the axis

in which the error occurred.
Yes
Alarm?
No
Data disappearance
due to decreased
battery voltage

Check the cable connection
between the AXA01 and encoder.
Yes
Alarm?
No
Connection failure


Yes
Alarm?
No
AXA01/AXB01
board failure

(encoder).
Yes
Alarm?
No
Encoder failure
End of corrective
measures
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AL-4312
ENCODER BATTERY ERROR

The cumulative rotation amount data in the motor disappears if its encoder backup battery voltage
decreases and is left unrestored without turning on the power to the NX100; therefore, make sure to
replace the battery without delay.
If the cumulative rotation amount data is lost as a result of ENCODER BACK-UP ERROR (AL-4311), calibrate the home position with due consideration to the P-point maximum envelope of manipulator when
starting to operate the manipulator again.
Sub Code: --
The alarm occurs.
Decreased battery voltage is suspected.
Replace the battery.

Yes
Alarm?
No
Decreased battery
voltage

Check the conduction of
the battery line cable.
Yes
Alarm?
No
Cable failure
End of corrective
measures
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AL-4313
SERIAL ENCODER OVER HEAT

The NX100 system monitors the encoder temperature with a thermometer in the encoder. This alarm
occurs if the temperature exceeds the specified value.
As a cause of the alarm, overloaded encoder status or effect of the ambient environmental temperature is
suspected. In rare cases, the alarm may be caused by a manipulator malfunction.
The alarm occurs.

Yes
Alarm?
No
Turn OFF the NX100 power for approx.

10 minutes, then turn it ON again.
Yes
Alarm?
No
Overheated
encoder
Check if the ambient temperature

is 45C or less.
Yes
The temperature is
45C or less.
No
Lower the ambient temperature

to 40C or less.
Yes
Alarm?
No
High ambient
temperature

(encoder).
Yes
Alarm?
No
Encoder failure

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4314
SERIAL ENCODER BATTERY ERROR

This alarm occurs when the voltage of encoder backup battery decreases to 2.8 V or less.
Since a condenser is not equipped in the motor with a serial encoder, the cumulative rotation amount data
in the motor disappears when the NX100 power is turned OFF if the decreased voltage of encoder battery
is left unrestored. Therefore, make sure to replace the battery using a backup battery.
If the cumulative rotation amount data is lost as a result of ENCODER BACK-UP ERROR (AL-4311), calibrate the home position with due consideration to the P-point maximum envelope of manipulator when
starting to operate the manipulator again.
Flow Chart A
The alarm occurs.

Robot axis
Which axis?
Go to B
External axis
Examine how many axes were

involved in the alarm.
Single axis
Single or maltiple
axes?
Multiple axes




Yes
Alarm?
No
Go to C
Yes
Connection failure
Alarm?
No

the manipulator.
Yes
Alarm?
No

Battery failure
Yes
No
Alarm?
No
Encoder failure
Yes

Yes
Alarm?

Disconnected?
Connection failure
No
Cable failure
Yes
Alarm?
No
End of corrective
measures
AXA01 board
failure
End of corrective
measures
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AL-4314

Flow Chart B
Continued from A
Poor connection of the encoder

battery line for external axis, or
Check the battery voltage of external axis.

Yes
Alarm?
No
Battery failure

Check if the connectors of the
external axis encoder battery
line are properly connected.
Yes
Alarm?
No
Connection failure

Check for disconnection of the
external axis encoder battery line.
Disconnected?
No
Yes

Yes
Alarm?
No
Cable disconnection

Yes
Alarm?
No
Encoder failure

Yes
Alarm?
No
AXB01 board
failure
End of corrective
measures
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AL-4314

Flow Chart C
Continued from A

Check the battery connection of the
voltage converter board of manipulator.
Yes
Alarm?
No
Connection failure

Check the battery voltage
inside the manipulator.
Yes
Alarm?
No

the manipulator.
Yes
Alarm?
No
Battery failure


Yes
Alarm?
No
Connection failure

No
Disconnected?
Yes

Yes
Alarm?
No
Cable disconnection
End of corrective
measures
Go to D
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AL-4314

Flow Chart D
Continued from C

Yes
Alarm?
No
Encoder failure

Yes
Alarm?
No
AXA01 board
failure
End of corrective
measures
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AL-4318
SERIAL ENCODER CORRECT LIMITATION OVER

This alarm occurs if the value generated from the position data of serial encoder exceeds the limit value.
The alarm occurs.

Yes
Alarm?
No

reinsertion) between AXA01, AXB01,
and encoder.
Yes
Alarm?
No
Connection failure

(encoder).
Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4326
SPEED ERROR
This alarm occurs if the motor speed indicated in the axis data exceeds the allowable maximum motor
speed.
As a cause of the alarm, effect of external force on the manipulator, motor power cable disconnection,
defective motor, or defective board is suspected.
Sub Code: --
The alarm occurs.

Check if the alarm occurred
during operation.
Yes
Alarm occurred during

operation.
No
Check if the alarm occurred in

the gun axis (when it is open).
Alarm occurred in gun axis
when it is open.
Yes
No
Short-open the strike of the motor

gun in which the alarm occurred.
Yes
Alarm?
No
Check the position where

the alarm occurred.
Yes
The alarm occurred in

a specific positon
No
Effect of external force (gravity)

is suspected.
End of corrective
measures
Slow down the operation speed.

Alarm?
Yes
No
Effect of external
force
Failure in the motor is suspected.
Replace the motor.

Alarm?
Yes
No
Motor failure

Replace the AXA01 board
Yes
Alarm?
No
AXA01 board
failure
End of corrective
measures
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AL-4329
POSITION ERROR
This alarm occurs if the feedback pulse miscount is detected in the motor gun axis.
A failure in the AXB01 or XEI01 circuit board, or connection cable between those boards may cause the
alarm.
Sub Code: --
The alarm occurs.

Yes
Alarm?
No
Check if there is any device that generates

high electrical noise around the robot system.
Yes
High-noise generator
is present.
Replace the AXB01 board

No
Yes
Elilminate the noise or take a

countermeasure against the noise.
Yes
Alarm?
No
Noise error
No
AXB01 board
failure
Replace the cable between the AXB01

board and the XEI01 board.

reinsertion) between the AXB01 and
encoder. (Refer to Appendix 3-1.)
Alarm?
No
Yes
Alarm?
Yes
Alarm?
No
Cable failure
Connection failure
Failure in the XEI01 board is suspected.

Replace the XEI01 board
Yes
Alarm?
No
XEI01 board
failure
Failure in the COV03 board is suspected.
Replace the COV03 board

Yes
Alarm?
No
COV03 board
failure
End of corrective
measures
End of corrective
measures
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AL-4332
POSITION ERROR (SERIAL ENCODER)

This alarm occurs if the feedback pulse miscount is detected in a serial encoder.
A failure in the AXA01 or AXB01 circuit board, or connection cable between those boards may cause the
alarm.
Sub Code: --
The alarm occurs.

Yes
Alarm?
No
Check if there is any device that generates

high electrical noise around the NX100.
Yes
High-noise generator
is present.
No
Elilminate the noise or take a

countermeasure against the noise.
Yes
Alarm?
No
Noise error

Check the connections (removal
and reinsertion) between AXA01,
AXB01, and encoder.
Yes
Alarm?
No
Connection failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4334
OVER VOLTAGE (CONVERTER)

This alarm occurs if the regenerative energy during the motor deceleration is too much that it cannot be
processed in the regenerative circuit of SERVO PACK.
Flow Chart A
The alarm occurs.

Yes
Alarm?
No
Check if the alarm occurs

when the servo power is OFF
Go to B
No
Alarm occurs when servo

is OFF.
Yes

(removal and reinsertion) between
AXA01, AXB01, and encoder.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4334
OVER VOLTAGE (CONVERTER)

Flow Chart B
Continued from A
Reduce 30% of the taught speed of
the four steps before and after from
the step where the alarm occurred.
Yes
Alarm?
No
The load mounted on the manipulator

is too large; reconsider the load.
Yes
Alarm?
No
Examine the primary voltage of

the breaker.
Yes
The voltage is 200 V

(+10 to 15%)
No
Modify the primary breaker voltage

to the specified voltage.
Yes
Alarm?
No
Primary voltage
error
Check for disconnection of regenerative

resistor. (Remove the converter connector
CNP3, and measure the resistance.)
No
Alarm?
Yes
Failure in the regenerative

resister is suspected.
Replace the regenerative resistor.
Yes
Alarm?
No
Regenerative
resistor failure

Yes
Alarm?
No
Converter failure

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4335
EARTH FAULT
This alarm occurs if there is a ground fault in any motor power line connected to converter.
Flow Chart A
The alarm occurs.
Yes
Alarm?
No
Check for ground fault.

Go to B
Yes
A ground fault has

occurred.
No

Yes
Alarm?
No
Amplifier failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4335
EARTH FAULT
Flow Chart B
Continued from A
Turn ON the servo power with connectors
on the connector base removed.
Yes
Alarm?
Turn ON the servo power with

cables in the NX100 disconnected.
Yes
Alarm?
No
Failure in the manipulator
cable is suspected.
No
Replace the manipulator cable.

Go to C
Yes
Failure in the power cable is suspected.
Alarm?
No
Replace the power cable.
Replace the motor.
Yes
Alarm?
No
Yes
Manipulator
cable failure
Alarm?
No
Motor failure
Power cable
failure
End of corrective
measures
End of corrective
measures
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AL-4335
EARTH FAULT
Flow Chart C
Continued from B

*Fall prevention measures
Remove CN08 of the NTU01 unit.
Turn ON the servo power with the amplifier
power cable in the NX100 disconnected.
Yes
Alarm?
No
Check for connections between the

connector on the side of the NX100
(connecting the manipulator cable),
amplifier, and converter.
Yes
Alarm?
No
Connection failure

(Refer to Appendix5-1, 6-1.)
Yes
Alarm?
No
Amplifier failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4336
OPEN PHASE (Converter)

This alarm occurs if there is an open phase in the converter input power.
Flow Chart A
The alarm occurs.

Yes
Alarm?
No

when the servo power is OFF.
Go to B
No

is OFF.
Yes

between AXA01, AXB01, and
converter. (Refer to Appendix 2-1.)
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4336
OPEN PHASE (Converter)

Flow Chart B
Continued from A
the breaker.
Yes

(+10 to 15%)
No

Yes
Alarm?
No
Primary voltage
error
Check for the contactor damage

(melting/sticking).
Yes
Alarm?
No

Replace the contactor.
Yes
Alarm?
No
Contactor failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4337
OVER CURRENT (AMPLIFIER)

This alarm occurs if a current exceeding the allowable maximum current is applied for amplifier.
As a cause of the alarm, a ground fault in the U, V, or W wire, or a short circuit between these wires is
suspected.
Flow Chart A
The alarm occurs.

Yes
Alarm?
No

No
is OFF.
Yes

Go to B
Yes
is ON.
No

between AXA01, AXB01, and
converter.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Amplifier failure

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4337

Flow Chart B
Continued from A
Check if a ground fault or
short circuit has occurred.
Yes
There is a ground fault or

short circuit
No

Yes
Alarm?
No
Amplifier failure


Yes
Alarm?
No
AXA01/AXB01
board failure
Turn ON the servo power with connectors

on the connector base removed.
Go to C
Yes
Alarm?
No
Failure in the manipulator

cable is suspected.
Replace the manipulator cable.

Yes
Alarm?
No
Manipulator
cable failure
Replace the motor.

Yes
Alarm?
No
Motor failure
End of corrective
measures
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AL-4337

Flow Chart C
Continued from B
Turn ON the servo power with
cables in the NX100 disconnected.
No
Alarm?
Yes
Failure in the power cable is suspected.
Remove CN08 of the NTU01 unit.

Replace the power cable.
Turn ON the servo power with the amplifier

power cable in the NX100 disconnected.
Yes
Alarm?
No
Cable failure
Yes
Alarm?
No
Power cable
failure
Check for connections between the connector on

the side of the NX100 (connecting the manipulator
cable) and amplifier. (Refer to Appendix 5-1, 6-1.)
End of corrective
measures
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Amplifier failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4338
REGENERATION ERROR (CONVERTER)

This alarm occurs if the converter regenerative resistor cable is disconnected or short-circuited.
The alarm occurs.

Yes
Alarm?
No

between AXA01, AXB01, converter,
and regenerative resistor.
Yes
Alarm?
No
Connection failure
Failure in the regenerative

resistor is suspected.
Replace the regenerative resistor.

Yes
Alarm?
No
Regenerative
resistor failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4339
INPUT POWER OVER VOLTAGE (CONV)

This alarm occurs if the input voltage monitored by the NX100 exceeds 420 V.
As a cause of the alarm, a primary power supply voltage error or defective circuit board is suspected.
The alarm occurs.

Yes
Alarm?
No

is OFF.
No
Yes
the breaker.
Yes

(+10 to 15%)
No

Yes
Alarm?
No
Primary voltage
error

AXA01, AXB01, and converter.
Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4340
TEMPERATURE ERROR (CONVERTER)

This alarm occurs if the converter temperature monitored by the NX100 system exceeds the specified
value.
As a cause of the alarm, an effect of ambient environment or temperature is suspected. In rare cases, the
alarm cause is attributed to an error in the primary control power supply or noise interference.
The alarm occurs.
Leave the NX100 for 10 minutes

with its power turned ON.
Turn ON the servo power.

Yes
Alarm?
No

Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure

Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4353
DEFECTIVE TAUGHT POINT (ENDLESS)

This alarm occurs if the feedback pulse count of endless operation axis exceeds the allowable maximum
pulse count (229 = 536, 870, 912).
The alarm occurs.

Reset the alarm with
Yes
Alarm?
No

Yes
Alarm?
No
Failure in the operation command

software (JOB) is suspected.
Reexamine the software.
Yes
Alarm?
No
JOB creation
error
Perform the MRESET instruction to

the axis in which the alarm occurred.
Yes
Alarm?
No
JOB creation
error

Yes
Alarm?
No
Encoder failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4359
CONVERTER ERROR
Converter, AXA01, and AXB01 perform communications in the NX100 system.
This alarm occurs if the AXA01 and AXB01 have failed to identify the alarm type.
The alarm occurs.

Yes
Alarm?
No
Check if the software versions of

converter, AXA01, and AXB01 are proper.
Yes
Proper versions?
No
Set each software to the proper version.

Yes
Alarm?
No

Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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AL-4800
WDT ERROR (CONVERTER)

The NX100 system is equipped with a watchdog timer in the converter.
This alarm occurs if the watchdog timeout is detected.
As a cause of the alarm, a failure in the converter is suspected. In rare cases, the alarm may be caused
by a noise interference.
The alarm occurs.

Yes
Alarm?
No

Yes
Alarm?
No
Connection failure

Yes
Alarm?
No
Converter failure


Yes
Alarm?
No
AXA01/AXB01
board failure
End of corrective
measures
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Appendix 1-1 Internal Layout Drawings
Appendixes
T
EA1400N
A
Manipulator interface
unit: JZNC-NIF01
Basic axis control
board: SGDR-AXA01A
Breaker:
NF30SW 3P 10A
Emergency
stop button:
AR22V2R-04R
Control power:
CPS-420F
CPU unit:
JZNC-NRK01
Welding circuit board:
JANCD-XEW02
(EV1)
Power supply
contactor unit:
JZRCR-NTU01-1
Input terminal
block for
manipulator
(MXT)
(EV2)
SERVO PACK:
SGDR-EA1400N
Interior circulation fan:

4715MS-22T-B50-B00
(Air flows up)
Front View
Duct fan on the backside:

4715MS-22T-B50-B00
(For air inlet)
(EV3)
(EV4)
Regenerative resistor
(220 W, 12.5 )
Back View
(Without Cover)
Section A-A
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ES165N
Manipulator interface
unit: JZNC-NIF01
Emergency stop button:

AR22V2R-04R
Basic axis control

board: SGDR-AXA01A
Breaker:
NF30SW 3P 30A
Control power:
CPS-420F
CPU unit:
JZNC-NRK01
Converter:
SGDR-COA250A01B
SERVO PACK:
SGDR-ES165N
Power supply
contactor unit:
JZRCR-NTU02-1
Input terminal
block for
manipulator
(MXT)
Front View
Interior circulation fan:

4715MS-22T-B50-B00
(Air flows up)
Duct fan on the backside:

5915PC-22T-B30-B00
(For air inlet)
(1500 W, 6 )
Back View
(Without Cover)
Section A-A
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Appendix 2-1 Block Diagrams
Appendix 2-1 Block Diagrams

EA1400N
Fan
Power Supply Unit
Breaker
JXRCR-NTU01
CBL-NXC002-3
CPU Unit
JZNC-NRK01
Regenerative
Resistor
CBL-NXC010-1
Emergency
Stop Button
MXT
SERVO PACK
Welding Board
(JANCD-XEW02)
CBL-NXC009-1
Relay
Terminal
Block
CBL-NXC001-3
CBL-NXC001-7
Manipulator
CBL-NXC001-6
CBL-NXC004-3
CBL-NXC005-5
CBL-NXC005-6
Programming
Pendant
CBL-NXC005-7
HB0270586-1
HB0270587-1
HB0270586-1
CBL-NXC010-1
CBL-NXC010-1
ES165N
Fan
Power Supply Unit

JXRCR-NTU02
Breaker
CBL-NXC002-3
CPU Unit
JZNC-NRK01
Regenerative
Resistor
Emergency
Stop Button
SERVO PACK
CBL-NXC010-2
MXT
CBL-NXC009-2
CBL-NXC001-7
Relay
Terminal
Block
Manipulator
CBL-NXC001-6
CBL-NXC004-3
CBL-NXC005-8
CBL-NXC005-9
CBL-NXC005-10
HB0270586-2
Programming
Pendant
HB0270609-1
HB0270588-1
HB0270586-2
CBL-NXC010-2
CBL-NXC010-2
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Appendix 3-1 CPU Unit

T
External View of a Typical CPU Unit
NOTE
The JZNC-NRK01 CPU unit contains only circuit board racks and control circuit boards. It
does not contain the control power supply, robot interface unit, and major axis control circuit board.
Monitor alarm display LED

Major axis control
circuit board
SGDR-AXA01A
Control circuit board

JANCD-NCP01
Robot interface unit

JZNC-NIF01
(F1, F2)
24V fuse for I/O
CPU
TYPE JANCD-NCP01
DATE
REV
SUPPLY
POWER
CPS-NX1
No.
DATE
FujiElectricCo.,Ltd.
JAPAN
LED
0 1
(CNSP1)
Emergency stop
SOURCE
01020304050607080910
11121314151617181920
21222324252627282930
+5VSB
A B C D E F GH J K
L MN P Q R S T U V
PON
CNSP1
+5V
CNTU
(CN04)
24 VDC output
OTHER
FAN
OHT
CNM
CN05
(+24V1)
CNRO
(CNM)
Robot system input
(CN03)
24 VDC output
CN04
(+24V2)
CNFAN
IDE
CN03
(TU)
(CN02)
Remote control
ATX
CNBAT
USB1(L)
USB1(R)
CN02
(REMOTE)
CN01
(AC IN)
INPUT
200-240V AC
50/60Hz
3A
PS2
(CN12)
External power
supply connection
(CN11)
24VDC output
(CN05)
24 VDC output
+24V
VIDEO
CNRI
(CNTU)
TU hot line I/O
Battery
Control power supply unit

CPS-420F
(CN01)
AC200V Input
(CN07)
Encoder signal
Compact Flash
(CN06)
PWM signal
Covers
(CN05)
PWM signal
(CN07,CN08,CN09,CN10)
User I/O
(CN04)
PWM signal
Front View (Without Covers)
(LAN1)
Programming pendant
(CN06)
Programming pendant hot line
(CN03)
I/O communication
(CN04)
Interface between controllers
(CN03)
I/O; Interface
(CN02)
RIF communication
(CN02)
Drive interface 2
(CN01)
Drive interface 1
Front View
(With Covers)
(CN01)
Converter signal
Bottom View
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External View of JZNC-NRK02W-W
Major axis control

circuit board
SGDR-AXA01A
Control power supply unit

CPS-420F
(CN05)
24 VDC output
(CNRI, CNRO)
Communications
between backboards
(CN04)
24 VDC output
(CNTU)
TU hot line I/O
(CN03)
24 VDC output
(CNM)
Manipulator input
(CN02)
Remote control
(CN01)
200 VAC input
(CN07)
Encoder signal
(CN06)
PWM signal
(CN05)
PWM signal
Cover
(CN04)
PWM signal
Front View
(Without Cover)
Front View
(With Cover)
(CN03)
I/O communications
(CN02)
Robot interface communications
(CN01)
Converter signal
Bottom View
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Appendix 4-1 Power Supply Contactor Unit
Appendix 4-1 Power Supply Contactor Unit

T
JZRCR-NTU01
Power supply contactor sequence circuit board
JANCD-NTU01(4X)
Main power supply input
(CN08)
Brake output connector
(3FU)
Fuse for brake SMP50 (5A; 125V)
CN08
4X
(CN07)
Robot connection
3FU
5A 125V
US
US
1FU
10A 250V
(CN06)
External signal connection
CN07
CN06
(CN05)
(CN04)
TU hot line I/O
CN05
CN04
DATE
SER NO.
TYPE
(2KM) Contactor
NJ2096-
(1KM) Contactor
(1Z) Line filter
YASKAWA ELECTRIC CORPORATION
2FU
10A 250V
JAPAN
(1FU)(2FU)
Fuse for AC control
power supply
326010 (10A; 250V)
(3X)
CPS power supply output
CN03
(CN03)
24 VDC input
CN02
3X
(2X)
AC fan power supply
(CN02)
24 VDC input
1X
(1X)
Converter output
CN01
SW1
2X
(S1)
Switch for MECHATROLINK station setting
(CN01)
Servo interface
JZRCR-NTU02
Power supply contactor sequence circuit board
JANCD-NTU01-
(4X)
Main power supply input
(CN08)
Brake output connector
4X
US
US
SER NO.
TYPE
(2KM) Contactor
CN07
CN06
(CN05)
(CN04)
TU hot line I/O
CN05
CN04
DATE
(1Z) Line filter
NJ2096-
(1KM) Contactor
(CN07)
Robot connection
(CN06)
External signal connector
2FU
10A 250V
1FU
10A 250V
JAPAN
(1FU)(2FU)
Fuse for AC control
power supply
326010 (10A; 250V)
3FU
5A 125V
CN08
(3FU)
Fuse for brake SMP50 (5A; 125V)
CN03
(3X) CPS power supply output

CN02
3X
2X
SW1
(2X) AC fan power supply

1X
CN01
(CN03)
24 VDC input
(CN02)
24 VDC input
(S1)
Switch for MECHATROLINK station setting
(1X) Converter output
(CN01)
Servo interface
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Appendix 5-1 SERVO PACK
Appendix 5-1 SERVO PACK

T
HP6 and EA1400N

Converter
Top grip
Charge lamp
(AMP4 to AMP6-CNP6)
Motor power output
(CN102)
PWM amplifier
control power supply
(AMP4 to AMP6-CN1)
PWM signal
(CN101)
DC control power supply
PWM amplifier X6
(CN1)
Converter control signal
(CNP11)
AC control power supply
(AMP1 to AMP3-CN1)
PWM signal
(CNP1)
Three-phase AC power supply
Ground terminal
(AMP1 to AMP3-CNP6)
Motor power output
Bottom grip
(CNP3) Regenerative resistor
ES165N and HP165

Converter
Charge lamp
Top grip
(CN102)
PWM amplifier
control power supply
SERVOPACK
Top grip
(AMP4 to AMP6-CNP6)
Motor power output
(AMP4 to AMP6-CN1)
PWM signal
(CN101)
DC control power supply
(CN1)
Converter control signal
PWM amplifier X6
(CNP4)
PN power supply
(CNP11)
AC control power supply
(AMP1 to AMP3-CN1)
PWM signal
Ground terminal
(CNP1)
Three-phase
AC power supply
(CNP3)
Ground terminal
Bottom grip
(AMP1 to AMP3-CNP6)
Motor power output
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Appendix 6-1 SERVO PACK for External Axes
Appendix 6-1 SERVO PACK for External Axes
(CNP16)
Motor connection terminal
(CNP5)
External condenser connection
(CNP2)
Control power input
(CN2)
Encoder connection
(CN1)
I/O signal connection
Ground terminal
(CNP3)
External regenerative
resistor connection
(CNP1)
Main circuit power input
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Appendix 7-1 Brake Release Unit

T
External View of JZRCR-NBU05-2
NOTE
The following figure shows the external view of a typical brake release unit. The number
of switches and fuses and their layouts may vary depending on the use of axes to be
released.
(FU11)
Manipulator axis brake release fuse
Break Release
(R-CN5)
Manipulator axis brake output
(FU12, 13)
External axis brake
power fuse
Break Release
(R0CN5)
External axis brake output
(FU14)
External axis brake
release fuse
(CN11)
Interlock signal
(Manipulator axes)
(CN12)
Manual release power
(Manipulator axes)
(CN14)
Interlock signal
(External axes)
(CN13)
Brake release power
in SERVO ON
(Manipulator axes)
(CN15)
Manual release power
(External axes)
(CN16)
Brake release power
in SERVO ON
(External axes)
JZRCR-NBU05-2 (External View)
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Internal Connections of JZRCR-NBU05-2 (1/2)
Blue
Blue
Blue/White
Blue/White
187
Fasten
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Internal Connections of JZRCR-NBU05-2 (2/2)
187 Fasten
187 Fasten
187 Fasten
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Measuring the Output Voltage of the Brake Release Unit
1. Remove the connector R-CN5 or EX-CN5 connected to the brake release unit.
2. While the servo power is ON, measure the voltage output from the R-CN5 or EX-CN5
connector on the brake release unit with a tester.
If the brake release unit operates properly, the measured output voltage of each axis is
as follows:
Output Voltage of R-CN5
Axis Name
Pin No.
(Positive Side)
S-axis
B1
L-axis
C1
U-axis
D1
R-axis
B2
B-axis
C2
T-axis
D2
Pin No.
(0 V Side)
Output Voltage
A1 and A2
24 VDC
Pin No.
(0 V Side)
Output Voltage*1
A1 and A2
24 VDC or 90 VDC
Output Voltage of EX-CN5
*1
Axis Name
Pin No.
(Positive Side)
External axis 1
B1
External axis 2
C1
External axis 3
D1
External axis 4
B2
External axis 5
C2
External axis 6
D2
The output voltage varies depending on the specifications of external axis motors.
Since the 90 VDC is generated from the half-wave rectified 200 VAC, the output voltage may become as much as 280 VDC depending on the tester used for measurement.
Pin Assignment of R-CN5 and EX-CN5

D
A
3
2
1
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Appendix 8-1 Internal Connections and Alarms of the NX100
Appendix 8-1 Internal Connections and Alarms of

the NX100
Several types of connectors are used in the NX100 controller.
When removing/reinserting the connectors to replace units, ensure that each connector is
properly connected to avoid the alarm caused by a loose connection.
A list on the following pages shows the alarms caused by connection failures.
NOTE
Some connectors have individual alarm signals assigned, and disconnection of such
connectors may cause the same alarm as the one occurred in the connected external
device. (e.g. SHOCK SENSOR ACTIVATION)
For location of each connector, refer to Appendix 3-1 to 6-1.
A connector code can be identified as the following example.
e.g. NIF-CN01: CN01 of JZNC-NIF01.
Identify the rest of the connector codes in the same manner as follows:
AXA-CNUU: a connector on SGDR-AXA01A.
AXB-CNUU: a connector on SGDR-AXB01 (child circuit board of AXA).
NBB-CNUU: a connector on the back board.
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Connector Code
Alarm No.
Message
Sub Code
1343
COMMUNICATION
ERROR (CONVERTER)
[102]
4359
CONVERTER ERROR
0021
COMMUNICATION
ERROR (SERVO)
[50]
0100
COMMUNICATION
ERROR (AXA#1)
[1]
0020
CPU COMMUNICATION ERROR
[50]
1302
COMMUNICATION
ERROR (SERVO I/O)
[112]
4306
AMPLIFIER READY
SIGNAL ERROR
1514
OVERHEAT (AMPLIFIER)
1306
AMPLIFIER TYPE MISMATCH
4306
AMPLIFIER READY
SIGNAL ERROR
1514
1306
4306
AMPLIFIER READY
SIGNAL ERROR
1514
1306
AXA-CN07
1325
COMMUNICATION
ERROR (ENCODER)
NTU-CN01
1302
COMMUNICATION
ERROR (SERVO I/O)
[112]
NTU-CN02
1302
COMMUNICATION
ERROR (SERVO I/O)
[112]
NTU-CN04
1345
SAFETY CIRCUIT
SIGNAL UNMATCH
(SERVO)
[102]
4101
OVERRUN (EXTERNAL AXIS)
[00000001]
1345
SAFETY CIRCUIT
SIGNAL UNMATCH
(SERVO)
[105]
1503
INPUT COMPARISON
ERROR (SERVO I/O)
AXA-CN01
AXA-CN02
AXA-CN03
AXA-CN04
AXA-CN05
AXA-CN06
NTU-CN06
(4xxx signifies
Major Failure)
Remarks
[00000001]
[00000001]
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Connector Code
Alarm No.
(4xxx signifies
Major Failure)
Message
Sub Code
Remarks
4110
SHOCK SENSOR
ACTIVATION
[00000001]
4100
OVERRUN (ROBOT
AXIS)
[00000001]
NTU-CN08
4328
SERVO TRACKING
ERROR
Occurs when SERVO

power is ON.
NTU-1X
4304
CONVERTER INPUT
POWER ERROR
[00000001]
Occurs when SERVO

power is ON.
NTU-CN07
NTU-2X (Upper Side)
NTU-2X (Lower Side)
NTU-3X
NTU-4X
0021
COMMUNICATION
ERROR (SERVO)
[50]
0100
COMMUNICATION
ERROR (AXA#1)
[1]
NIF-CN03
1204
COMMUNICATION
ERROR (IO MODULE)
NIF-CN06
NIF-CN11
1204
COMMUNICATION
ERROR (IO MODULE)
[00000010]
NIF-CN12
4109
DC24V POWER
SUPPLY FAILURE (I/O)
[00000011]
NIF-F1
4109
DC24V POWER
[00000011]
NIF-F2
4109
DC24V POWER
[00000011]
CV1-CN1
1343
COMMUNICATION
ERROR (CONVERTER)
[102]
NIF-CN01
CV1-CNP11
4306
AMPLIFIER READY
SIGNAL ERROR
1343
COMMUNICATION
ERROR (CONVERTER)
4306
AMPLIFIER READY
SIGNAL ERROR
CV1-CN101
CV1-CN102
NCP-LAN1
Power is turned
OFF when unconnected.
Cooling fan EV1

and EV2 stop.
Power is turned
[00000010]
-
Power is turned
[102]
-
A msg "Programming pendant is disconnected" appears

on blank screen.
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Connector Code
Alarm No.
(4xxx signifies
Major Failure)
NBB-CNSP1
NBB-CNPU
1345
NBB-CNM
SV1-AMP*-CNP4
SV1-AMP*-CNP6
Message
SAFETY CIRCUIT
SIGNAL UNMATCH
(SERVO)
-
Sub Code
Remarks
A msg "Robot is
stopped by P.PANEL
emergency stop"
appears.
[105]
-
4306
AMPLIFIER READY
SIGNAL ERROR
4306
AMPLIFIER READY
SIGNAL ERROR
1514
1306
*Signifies AMP1
to 6. (Each alarm
is common for all
amplifiers.)
Occurs when SERVO

power is ON.
4328
SERVO TRACKING
ERROR
*Signifies AMP1
to 6. (Each alarm
is common for all
amplifiers.)
Occurs when SERVO

power is ON.
*Signifies AMP1
to 6. (Each alarm
is common for all
amplifiers.)
4328
SERVO TRACKING
ERROR
1325
COMMUNICATION
ERROR (ENCODER)
1343
COMMUNICATION
ERROR (CONVERTER)
[202]
1343
COMMUNICATION
ERROR (CONVERTER)
[302]
1325
COMMUNICATION
ERROR (ENCODER)
1343
COMMUNICATION
ERROR (CONVERTER)
1325
COMMUNICATION
ERROR (ENCODER)
1343
COMMUNICATION
ERROR (CONVERTER)
EX1SV-CN2
1325
COMMUNICATION
ERROR (ENCODER)
EX1SV-CNP1
4304
CONVERTER INPUT
POWER ERROR
[00000001]
Occurs when SERVO

power is ON.
EX1SV-CNP3
4338
REGENERATION
ERROR (CONVERTER)
[00000010]
Occurs when SERVO

power is ON.
SV1-AMP*-PN
AXB-CN08
EX1SV-CNP2
EX1SV-CN1
[202]
[202]
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This section explains the typical connectors used and instructions on how to connect them.
Tyco (AMP) Connector
Insert the connector securely until it clicks.
WAGO Connector
Insert the connector pushing all the way
in. Make sure that the connector fully
contacts the socket without leaving any
gap.
SERVO Board Connector

Insert the connector and fix it with two
screws
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SERVO PACK Connector

Mechatro Link Connector

Ethernet Connector for Programming Pendant

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I/O Connector
screws.
Flat Cable Connector

Insert the connector pushing all the way
in, and lift up the lock to fix it.
Connector for Communications

(DeviceNet, etc.)
screws.
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NX100 OPTIONS
INSTRUCTIONS
FOR TROUBLESHOOTING
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686
Fax
1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800
Fax
46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377
Fax
60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003
Fax
886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
Printed in Japan August 2006 06-08
MANUAL NO.
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HW0483057.0 Trouble Schooting

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YASKAWA

Do not submit this electronic data to the customer.

THIS MATERIAL IS FOR STUDY PURPOSE ONLY.

Notes for Safe Operation

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

Must never be performed.

Release of Emergency Stop

Observe the following precautions when performing teaching operations

Definition of Terms Used Often in This Manual

NX100 Programming pendant

Cable between the manipulator and NX100

The keys which have characters printed on them are

The keys which have a symbol printed on them are

ex. page key

Axis Keys and Numeric Keys are generic names

When two keys are to be pressed simultaneously,

The menu displayed in the programming pendant is

Description of the Operation Procedure

CPU COMMUNICATION ERROR: [CPU Board]

NCP01 (Main CPU board)

The alarm occurs.

Save the NX100 internal data.

A major unconformity occured in

Check the AXA board configuration

Initialize the NX100 system

Sub code is any of the numbers

Sub code is [1].

Reconfigure the control axis in

Replace the NCP01 board including

Replace the CPU rack, and initialize

Check and reconfigure the AXA board rotary

Check the insertion of NIF unit and the cable

Check the insertion of the AXA board of

Replace the AXA board of the corresponding

Replace the NIF unit, and initialize

COMMUNICATION ERROR (SERVO): [CPU Board]

AXA01/AXA02 (1st AXA board)

AXA01/AXA02 (2nd AXA board)

AXA01/AXA02 (3rd AXA board)

AXA01/AXA02 (4th AXA board)

The alarm occurs.

Save the NX100 internal data.

Check the AXA board configuration

Check and reconfigure the AXA board rotary

Check the insertion of the AXA board of

Check the insertion of NIF unit and the cable

Replace the AXA board of the corresponding

Replace the NIF unit, and initialize the NX100

Contact your Yaskawa representative.

ROM ERROR: [CPU Board]

NCP01 (Main CPU board)

The alarm occurs.

Save the NX100 internal data.

A major unconformity occured in

Check the AXA board configuration

Initialize the NX100 system

Sub code is any of the numbers