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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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

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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

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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

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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

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Alarm?

No

Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
(Refer to Appendix 3-1.)
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

Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Contact your Yaskawa representative.

Yes

Alarm?

No

End of corrective
measures

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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.
Sub Code: CPU Board No.
50:

AXA01/AXA02 (1st AXA board)

51:

AXA01/AXA02 (2nd AXA board)

52:

AXA01/AXA02 (3rd AXA board)

53:

AXA01/AXA02 (4th AXA board)

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the AXA board configuration

setting of the corresponding sub code.
The setting is
correct.
Yes
No
Reconfigure the control axis
in Maintenance Mode.
Yes

Alarm?

No

Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
(Refer to Appendix 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

Check the insertion of NIF unit and the cable

connection of NIF unit connector CN01.
(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.)
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

Contact your Yaskawa representative.

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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.
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.
Yes

Initialize the NX100 system

configuration.
Alarm?

No

Sub code is any of the numbers

from [50] to [53].

Sub code is [1].

Yes

Alarm?

The setting is
correct.

No
Reconfigure the control axis
in Maintenance Mode.

No

Yes

Replace the NCP01 board including

CompactFlash. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the CPU rack, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Alarm?

No

Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Check the insertion of NIF unit and the cable

connection of NIF unit connector CN01.
(Refer to Appendix 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 Appendixes 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

Replace the NIF unit, and initialize the NX100

system configuration. (Refer to Appendix 3-1.)
Contact your Yaskawa representative.

Yes

Alarm?

No

End of corrective
measures

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Alarm?

Yes

Sub code is [0].

A major unconformity occured in

the internal data.

Sub code is any of the numbers

from [1] to [15].

Sub code is any of the numbers

from [16] to [17].

Check the connections of the cable

of NIF unit connector CN03 and
terminator.
(Refer to Appendix 2-1 and 3-1.)

Check if the I/O module of

corresponding slot number is
properly inserted in correct slot.
(Refer to Appendix 3-1.)

Yes
Check the insert status of NIF unit,
and reconfigure the I/O module.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the NIO board, and

reconfigure the I/O module.
(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

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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,

and reconfigure the I/O module.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Yes

Alarm?

No

Reconfigure the I/O module.

Yes

Alarm?

No

Replace the I/O module of

corresponding slot number.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the I/O module of

corresponding slot number.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

End of corrective
measures

End of corrective
measures

Contact your Yaskawa representative.

End of corrective
measures

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the AXA board configuration

setting of the corresponding alarm No.
The setting is
correct.
Yes
No
Reconfigure the control axis
in Maintenance Mode.
Yes

Alarm?

No

Check and reconfigure the AXA board rotary

switch setting of the corresponding alarm No.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Check the insertion of the AXA board of

the corresponding alarm No. and the cable
connection of AXA board connector CN02.
(Refer to Appendix 2-1 and 3-1.)
Yes

Alarm?

No

Check the insertion of NIF unit and the cable

connection of NIF unit connector CN01.
(Refer to Appendix 2-1 and 3-1.)
Yes

Alarm?

No

Replace the AXA board of the corresponding

alarm No. (Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Initialize the parameters

in Maintenance Mode.
Yes

Alarm?

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

Alarm?

No

Initialize the NX100 system

configuration.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Initialize the NX100 system

configuration.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

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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.
Sub Code: Error Cause Data No.
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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

Sub code is any of the numbers

from [0] to [2].

Sub code is [3].

Initialize the memory play file

in Maintenance Mode.

Initialize the JOBs

in Maintenance Mode.
Yes

Alarm?

Yes

No

Alarm?

Yes

No

Alarm?

Yes

No

Alarm?

Alarm?

No

Alarm?

No

Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)

Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
Yes

Alarm?

Initialize the NX100 system

configuration.

Initialize the NX100 system

configuration.
Yes

No

Yes

No

Contact your Yaskawa representative.

Alarm?

No

Contact your Yaskawa representative.

End of corrective
measures

End of corrective
measures

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Initialize the ladder program

in Maintenance Mode.
Yes

Alarm?

No

Initialize the NX100 system

configuration.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

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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.
Sub Code: Error Cause Data No.
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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Alarm?

Yes

Sub code is [2] or [8].

Sub code is [4].

Reconfigure the I/O module

in Maintenance Mode.
Yes

Alarm?

No

No

Sub code is [5].

Reconfigure the control axis

in Maintenance Mode.
Yes

End of corrective
measures

Alarm?

No

End of corrective
measures

Initialize the NX100 system

configuration.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

End of corrective
measures

10

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Initialize the NX100 system

configuration.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

11

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Sub code is any of the numbers

from [1] to [15].

Alarm?

Check if the I/O module of

corresponding slot number is
properly inserted in correct slot.
(Refer to Appendix 3-1.)
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

Replace the I/O module of

corresponding slot number.
(Refer to Appendix 3-1.)

Check the insertion of NIF unit,

and reconfigure the I/O module.
(Refer to Appendix 3-1.)
Yes

No

Sub code is any of the numbers

from [16] to [17].

Check the connections of the cable

of NIF unit connector CN03 and
terminator.
(Refer to Appendix 2-1 and 3-1.)
Yes

Alarm?

No

Yes

Alarm?

No

Replace the I/O module of

corresponding slot number.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

Contact your Yaskawa representative.

End of corrective
measures

End of corrective
measures

12

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Initialize the NX100 system

configuration.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

13

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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.
Sub Code: CPU Board No.
50:

AXA01/AXA02 (1st AXA board)

51:

AXA01/AXA02 (2nd AXA board)

52:

AXA01/AXA02 (3rd AXA board)

53:

AXA01/AXA02 (4th AXA board)

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the AXA board configuration

setting of the corresponding sub code.
The setting is
correct.
Yes
No
Reconfigure the control axis
in Maintenance Mode.
Yes

Alarm?

No

Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
(Refer to Appendix 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

Check the insertion of NIF unit and the cable

connection of NIF unit connector CN01.
(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.)
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

Contact your Yaskawa representative.

14

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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.
Sub Code: CPU Board No.
50:

AXA01/AXA02 (1st AXA board)

51:

AXA01/AXA02 (2nd AXA board)

52:

AXA01/AXA02 (3rd AXA board)

53:

AXA01/AXA02 (4th AXA board)

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the AXA board configuration

setting of the corresponding sub code.
Yes

The setting is
correct.

No
Reconfigure the control axis
in Maintenance Mode.
Yes

Alarm?

No

Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
(Refer to Appendix 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

Check the insertion of NIF unit and the cable

connection of NIF unit connector CN01.
(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.)
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

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
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

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the CPU rack, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Replace the NIF unit, and initialize the NX100

system configuration. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the CPU rack, and initialize the NX100

system configuration. (Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the CPU rack, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Replace the NCP01 board including

CompactFlash.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Replace the CPU rack, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.

Save the NX100 internal data.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the insertion of the AXA board of

the corresponding alarm No. 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

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

Alarm?

No

Replace the CPU rack, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Remove and reinsert the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Board connection
failure.

Failure in the AXA01 board is

suspected.
Replace the AXA01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

The AXA01 board

failure.

End of corrective
measures

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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.

Save the NX100 internal data.

Memory error in the parameter

file; reset the NX100 by turning
OFF and ON the power.
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.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

End of corrective
measures

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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
error in the NCP01 board. In this case, replace the NCP01 board.
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.

Save the NX100 internal data.

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

Contact your Yaskawa representative.

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.)
Sub Code: Error Cause Data No.
01:

Incomplete setup of MOTION

02:

Online error

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
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

Contact your Yaskawa representative.

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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.
Sub Code: Error Cause Data No.
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.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Sub code is any of the numbers

from [1] to [8].

Sub code is any of the numbers

from [9] to [12].

Failure in the AXA01 board is

suspected.

Failure in the NCP01 board is

suspected.

Replace the AXA01 board.

(Refer to Appendix 3-1.)

Replace the NCP01 board.

(Refer to Appendix 3-1.)

Yes

Alarm?

No

Yes

Contact your Yaskawa representative.

Alarm?

No

Contact your Yaskawa representative.

End of corrective
measures

End of corrective
measures

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HW0483057

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)

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 524:

Internal control error in software

AL-1103

SYSTEM ERROR (EVENT)

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 8:

Internal control error in software

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
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

Contact your Yaskawa representative.

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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
error in the NCP01 board. In this case, replace the NCP01 board.
Sub Code
1000_0000: I/O module setting error

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
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.
(Refer to Appendix 2-1.)
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
Contact your Yaskawa representative.

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HW0483057

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Remove and reinsert the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

Board connection
failure.

No

Failure in the AXA01 board is

suspected.
Replace the AXA01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

The AXA01 board

failure.

No

End of corrective
measures

Contact your Yaskawa representative.

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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

Turn OFF the NX100 power.

No

Replace the fans in the NX100.

Yes

Contact your Yaskawa representative.

Alarm?

No

Contact your Yaskawa representative.

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
0000_0000_0000_0100: Communication error in expanded I/O board station 2

1000_0000_0000_0000: Communication error in expanded I/O board station 15

The alarm occurs.

Turn OFF the NX100 power.

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.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

External circuit error is suspected.

Turn OFF the NX100 power.

Check the external circuit, and

turn ON the NX100 power.
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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_0010: Error detected in PLD circuit 2
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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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AL-1210

SERIAL COMMUNICATION TOGGLE CHECK ERROR (NIF01)

This alarm occurs due to malfunction or failure caused when electrical noise from the power supply
interferes in the SERIAL COMMUNICATION TOGGLE CHECK ERROR detection circuit in the NIF01
board. Replace the NIF01 board in case of failure.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.
Sub Code: Error Cause Data No.
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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the wiring related to the signal
that caused the alarm.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Back up the CMOS data, and

turn OFF the NX100 power.
Remove and reinsert the NIF board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in the NIF board is suspected.

Turn OFF the NX100 power.

Replace the NIF board, and initialize
the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

NIF board failure

End of corrective
measures

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AL-1212

PLD MUTUAL MONITOR ERROR (NIF01)

This alarm occurs due to malfunction or failure caused when electrical noise from the power supply
interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board.
In case of failure, replace the controller unit.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.
In case of failure, replace the controller unit.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Check if AL-1211 occurred

in conjunction with this alarm.
AL-1211 occurred
simultaneously.
Yes
No
Reset the NX100 by turning
OFF and ON the power.

Refer to the AL-1211 for troubleshooting.

Yes

Alarm?

No

Failure in the NIF01 board is suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

AL-1215

PPESP RELAY STICKING

This alarm occurs when the PPESP 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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

AL-1216

EXESP RELAY STICKING

This alarm occurs when the EXESP 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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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
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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

AL-1218

B_ON RELAY STICKING

This alarm occurs when the B_ON 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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.
When this alarm occurs independently, malfunction or failure caused by noise from the power supply in
the NIF01 board is suspected.
In case of failure, replace the controller unit.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Check if AL-1211 occurred

in conjunction with this alarm.
AL-1211 occurred
simultaneously.
Yes
No
Reset the NX100 by turning
OFF and ON the power.

Refer to the AL-1211 for troubleshooting.

Yes

Alarm?

No

Failure in the NIF01 board is suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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AL-1223

PLD MONITOR1 ERROR (NIF01)

This alarm occurs due to malfunction or failure caused when electrical noise from the power supply
interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board.
In case of failure, replace the NIF01 board.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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AL-1224

PLD MONITOR2 ERROR (NIF01)

If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211
troubleshooting.
When this alarm occurs independently, malfunction or failure caused by noise from the power supply in
the NIF01 board is suspected.
In case of failure, replace the controller unit.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Check if AL-1211 occurred

in conjunction with this alarm.
AL-1211 occurred
simultaneously.
Yes
No
Reset the NX100 by turning
OFF and ON the power.

Refer to the AL-1211 for troubleshooting.

Yes

Alarm?

No

Failure in the NIF01 board is suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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AL-1225

PLD MONITOR3 ERROR (NIF01)

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
0000_0001: Error detected in PLD circuit 1
0000_0010: Error detected in PLD circuit 2
0000_0011: Error detected in PLD circuits 1 and 2

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Failure in the NIF01 board is

suspected.

Replace the NIF01 board, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

End of corrective
measures

Contact your Yaskawa representative.

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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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connections (removal and

reinsertion) of the following connectors:
xAXA01-CN02.
xNIF01-CN01.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the AXA01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in the AXA01 board is

suspected.
Replace the AXA01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connections (removal and
reinsertion) of the following connectors:
xAXA01-CN02.
xNIF01-CN01.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the AXA01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in the AXA01 board is

suspected.
Replace the AXA01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

AXA01 board
failure

Replace the NIF01 unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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).
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
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.

Save the NX100 internal data.
Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connections (removal and
reinsertion) of the following connectors:
xAXA01-CN03.
xNTU01-CN01/CN02.
(Refer to Appendix 2-1 and 4-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check the connections (removal and
reinsertion) of the following connectors:
xNBB01(backboard)-CNTU.
xNTU01-CN03.
(Refer to Appendix 2-1 and 4-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the AXA01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in the AXA01 board is

suspected.
Replace the AXA01 board.
(Refer to Appendix 3-1.)
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

Contact your Yaskawa representative.

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

Contact your Yaskawa representative.

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.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Verify that the AXB01 board is installed.

Yes

The AXB01 board is

installed.

No

Turn OFF the NX100 power.

Install the AXB01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connection between
the AXA01 board and AXB01 board.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the AXB01 board is

suspected.
Turn OFF the NX100 power.
Replace the AXB01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

AXB01 board
failure

Failure in the AXA01 board is

suspected.
Turn OFF the NX100 power.

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning
OFF and ON the power.
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

Turn OFF the NX100 power.

Check the cable connections between
AXA01, AXB01, and amplifier:
xAXA01-CN04.
xAmplifier-CN04, -CN05, -CN06.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the amplifier is suspected.

Turn OFF the NX100 power.

Replace the amplifier.
(Refer to Appendix 5-1 and 6-1.)
Yes

Alarm?

No

Amplifier failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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

Turn OFF the NX100 power.

Check the cable connections between

AXA01, AXB01, and encoder:
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Replace the motor of the subject axis.

Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check if the converter has been

replaced.
(Refer to Appendixes 5-1 and 6-1.)
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

Turn OFF the NX100 power.

Check the cable connections between

AXA01, AXB01, and converter:
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.

(Refer to Appendix 5-1 and 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.

Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Reset the NX100 by turning
OFF and ON the power.
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

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.

(Refer to Appendix 5-1 and 6-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Examine which axis caused the alarm.
Robot axis

Which axis?

External axis

Continued on
the next page.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connection between
AXA01-CN07 and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

Connection failure

No

Turn OFF the NX100 power.

Remove and reinsert the AXA01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

Connection failure

No

Encoder failure is suspected.

Turn OFF the NX100 power.
Replace the defective motor (encoder).
Yes

Alarm?

No

Encoder failure

Failure in the AXA01 board is

suspected.
Encoder cable disconnection is
suspected.
Turn OFF the NX100 power.
Replace the encoder cable.
Yes

Alarm?

Turn OFF the NX100 power.

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

AXA01 board
failure

No

Cable failure

Contact your Yaskawa representative.

End of corrective
measures

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AL-1325

COMMUNICATION ERROR (ENCODER)

Continued from
the previous page.
Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections between

AXB01 board and encoder:
xAXB-CN08.
xEV1SV-CNP2, -CN01, -CN02.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the AXB01 board is

suspected.
Turn OFF the NX100 power.
Replace the AXB01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections between
the AXA01 board, AXB01 board,
and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the AXA01
and AXB01 boards.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXA01/AXB01
board failure
End of corrective
measures

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

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

Turn OFF the NX100 power.

Check the cable connections between
the AXA01 board, AXB01 board,
and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

Connection failure

No

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

Encoder failure

No

End of corrective
measures

Contact your Yaskawa representative.

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AL-1328

DEFECTIVE SERIAL ENCODER

The NX100 system performs serial communications between controller and encoder. This alarm occurs if
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.
Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections between
the AXA01 board, AXB01 board,
and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the boards
AXA01 and AXB01.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXA01/AXB01
board failure

End of corrective
measures

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AL-1329

DEFECTIVE SERIAL ENCODER COMMAND

The NX100 system performs serial communications between controller and encoder. This alarm occurs if
the operation in response to the encoder command is a malfunction.
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.
Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections between
the AXA01 board, AXB01 board,
and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the boards
AXA01 and AXB01.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Failure in the AXA01 board and

AXB01 board is suspected.

Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

Flow Chart A

The alarm occurs.

Examine which axis caused the alarm.

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.
Turn OFF the NX100 power.

Turn OFF the NX100 power.

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.

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Turn OFF the NX100 power.

Replace the battery inside

the manipulator.
Yes

Alarm?

No

Replace the defective motor (encoder).

Battery failure

Yes

Turn OFF the NX100 power.

Disconnected?

Alarm?

No

Encoder failure

Turn OFF the NX100 power.

Yes
Replace the AXA01 board.
(Refer to Appendix 3-1.)

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
Contact your Yaskawa representative.

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AL-1335

INCOMPLETE ENCODER RESET

Flow Chart B
Continued from A

Poor connection of the encoder

battery line for external axis, or
reduced battery power is suspected.

Turn OFF the NX100 power.

Check the battery voltage of external axis.

Yes

Alarm?

No

Battery failure

Turn OFF the NX100 power.

Check if the connectors of the
external axis encoder battery
line are properly connected.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check for disconnection of the
external axis encoder battery line.
Disconnected?

No

Yes

Replace the encoder battery line.

Yes

Alarm?

No

Cable disconnection

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the AXB01 board is suspected.

Turn OFF the NX100 power.

Replace the AXB01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXB01 board
failure

End of corrective
measures

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AL-1335

INCOMPLETE ENCODER RESET

Flow Chart C
Continued from A
Poor connection in the battery system or
reduced battery power is suspected.

Turn OFF the NX100 power.

Check the battery connection of the voltage
converter board of manipulator.
Yes

Alarm?

No

Connection failure

Failure in the battery is suspected.

Turn OFF the NX100 power.

Replace the battery inside
the manipulator.
Yes

Alarm?

No

Battery failure

Loose connection or disconnection

of the encoder battery line inside
the manipulator is suspected.

Turn OFF the NX100 power.

Check if the encoder battery line

connectors inside the manipulator
are properly connected.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check for disconnection of the encoder
battery line inside the manipulator.
No

Disconnected?

Yes

Turn OFF the NX100 power.

Replace the encoder battery line.

Yes

Alarm?

No

Cable disconnection

End of corrective
measures

Go to D

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AL-1335

INCOMPLETE ENCODER RESET

Flow Chart D
Continued from C

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the AXA01 board is suspected.

Turn OFF the NX100 power.

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
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 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.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn ON the converter power.

Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connections (removal and
reinsertion) of the following connectors:
xAXA01-CN01.
xAXB01-CN08.
xConverter-CN10.
xEX1SV-CNP2, -CN1.
(Refer to Appendix 2-1, 5-1, and 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Replace the converter.

(Refer to Appendix 5-1 and 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the AXA01 board is suspected.

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the wiring related to the signal

in which the error occurred.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Failure in the power-ON unit
(board) is suspected.
Replace the power-ON unit (board).
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
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 loose connection, defective board, or noise interference.
Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections
(insert/reinsert) between the AXA01
board, AXB01 board, and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Encoder cable disconnection

is suspected.
Turn OFF the NX100 power.

Replace the encoder cable.

Yes

Alarm?

No

Cable failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).
Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
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 loose connection, defective board, or noise interference.
Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections
(insert/reinsert) between the AXA01
board, AXB01 board, and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

TU circuit board failure is suspected.

Replace the TU circuit board.

(Refer to Appendix 4-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: -The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

TU circuit board failure is suspected.

Replace the TU circuit board.

(Refer to Appendix 4-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: -The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

TU circuit board failure is suspected.

Replace the TU circuit board.

(Refer to Appendix 4-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connection of:
xNTU-CN07.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Remove and reinsert the power-ON

unit (NTU01).
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Remove and reinsert the AXA01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in the NTU01 or AXA01

board is suspected.

Replace NTU01.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Board failure

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of contactor in which the alarm occurred
01: Power-ON unit

The alarm occurs.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connection of:
xNTU-CN06.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Remove and reinsert the power-ON

unit (NTU01).
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Remove and reinsert the AXA01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in NTU01 or AXA01

board is suspected.

Replace NTU01.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Board failure

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connection of:
xNTU-CN07.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Remove and reinsert the power-ON

unit (NTU01).
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Remove and reinsert the AXA01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in NTU01 or AXA01

board is suspected.

Replace NTU01.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Board failure

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connection of AXA-CN03
on the AXA01 board.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check the connection of NTU-CN01
on the NTU01 board.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the NTU01
board (Refer to Appendix 4-1.)
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Remove and reinsert the AXA01
board (Refer to Appendix 3-1.)
Yes

Alarm?

No

Connection failure

Failure in NTU01 or AXA01

board is suspected.
Replace NTU01.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Board failure

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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)

Power-ON unit2 (TU#2)
Power-ON unit3 (TU#3)
Power-ON unit4 (TU#4)

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

Contact your Yaskawa representative.

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.
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
-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.
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 63: Signifies the internal software error

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
Alarm?

Yes

No

Check in what circumstance

the alarm occurred.
Occurred immediately after
the software
update.
Yes

No

Restore the previous software version.

Yes

Alarm?

No
End of corrective
measures

Contact your Yaskawa representative.

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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.
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
-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.
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
1 to 11: Signifies the internal software error

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Check in what circumstance

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

Restore the previous software version.

Yes

Alarm?

No
End of corrective
measures

Contact your Yaskawa representative.

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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.
Sub Code: Signifies the physical No. of contactor in which the alarm occurred

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.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check if the contactors (1KM and

2KM) are open, and not damaged
by melting or sticking.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Contactor damage

Failure in the NTU01 board

is suspected.
Turn OFF the NX100 power.

Replace the NTU01 board.

(Refer to Appendix 4-1.)
Yes

Alarm?

No

NTU01 board
failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of contactor in which the alarm occurred

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.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check for damage in the relay circuit

(K8, K14, K23) of the NTU01 board.
Yes

Alarm?

No

Relay circuit
failure

Failure in the NTU01 board

is suspected.
Turn OFF the NX100 power.

Replace the NTU01 board.

(Refer to Appendix 4-1.)
Yes

Alarm?

No

NTU01 board
failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

No

Check the cable connections between

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.

Failure in the NTU01 board

is suspected.

Turn OFF the NX100 power.

Turn OFF the NX100 power.

Replace the converter.

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

Replace the NTU01 board.

(Refer to Appendix 4-1.)

Yes

Alarm?

No

Converter failure

Yes

Alarm?

No

Contactor damage

NTU01 board
failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

End of corrective
measures

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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

Failure in the NTU01 board

is suspected.
Turn OFF the NX100 power.
Replace the NTU01 board.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

NTU01 board
failure

Check the connections between

NTU01 and converter:
xNTU01-1X.
xEX1SV-CNP1.
(Refer to Appendix 4-1, 6-1.)
Yes

Alarm?

No

Connection failure

Check if the CHARGE lamp illuminates

when the servo power is ON.
The lamp
illuminates.
No
Yes
Converter failure is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendixes 5-1, 6-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check if the CHARGE lamp illuminates

when the servo power is ON.
The lamp
illuminates.
No
Yes

Converter failure is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendixes 5-1, 6-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the cables for control power

of converter and amplifier.
(Refer to Appendix 5-1, 6-1.)
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.
Turn OFF the NX100 power.

Replace the primary power supply.

Yes

Alarm?

No

Primary power
supply failure

Failure in the amplifier is suspected.

Turn OFF the NX100 power.
Replace the amplifier
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Amplifier failure

Check the cable connections

between AXA01, AXB01, and amplifier:
xAXA-CN04.
xAmplifier-CNP4, -CNP6.
xConverter-CN101, -CN102.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn ON the servo power after 5 or more

seconds from the alarm occurrence.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connection of the SERVO
PACK motor power line connector.
(Refer to Appendix 5-1, 6-1.)
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.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the AXA01 board

is suspected.
Replace the AXA01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the cable connections between

the AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Converter failure is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.

Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the cable connections between

the AXA01, AXB01, and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor
(encoder).
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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 failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor
(encoder).
Yes

Alarm?

No

Encoder failure

Failure in the AXB01

board is suspected.
Turn OFF the NX100 power.
Replace the AXB01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Clear the alarm with
the programming pendant.
Yes

Alarm?

No

Check if AL-4314 (battery error)

occurred in conjunction with this alarm.
No

AL-4314 occurred
simultaneously.

Yes

Turn OFF the NX100 power.

Replace the battery of the axis

in which the error occurred.
Yes

Alarm?

No

Data disappearance
due to decreased
battery voltage

Turn OFF the NX100 power.

Check the cable connection
between the AXA01 and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

AXA01/AXB01
board failure

Encoder failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor
(encoder).
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Turn OFF the NX100 power.

Replace the battery.

Yes

Alarm?

No

Decreased battery
voltage

Turn OFF the NX100 power.

Check the conduction of
the battery line cable.
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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 failure is suspected.

Turn OFF the NX100 power.

Replace the defective motor
(encoder).
Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the axis in which the alarm occurred
Flow Chart A

The alarm occurs.

Examine which axis caused the alarm.

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.
Turn OFF the NX100 power.

Turn OFF the NX100 power.

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.

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Turn OFF the NX100 power.

Replace the battery inside

the manipulator.
Yes

Alarm?

No

Replace the defective motor (encoder).

Battery failure

Yes

Turn OFF the NX100 power.

No

Alarm?

No

Encoder failure

Turn OFF the NX100 power.

Yes
Replace the AXA01 board.
(Refer to Appendix 3-1.)

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.
Disconnected?

Connection failure

No

Cable failure

Yes

Alarm?

No

End of corrective
measures

AXA01 board
failure

End of corrective
measures
Contact your Yaskawa representative.

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AL-4314

SERIAL ENCODER BATTERY ERROR

Flow Chart B
Continued from A

Poor connection of the encoder

battery line for external axis, or
reduced battery power is suspected.

Turn OFF the NX100 power.

Check the battery voltage of external axis.

Yes

Alarm?

No

Battery failure

Turn OFF the NX100 power.

Check if the connectors of the
external axis encoder battery
line are properly connected.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check for disconnection of the
external axis encoder battery line.
Disconnected?

No

Yes

Replace the encoder battery line.

Yes

Alarm?

No

Cable disconnection

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the AXB01 board is suspected.

Turn OFF the NX100 power.

Replace the AXB01 board.
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXB01 board
failure

End of corrective
measures

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AL-4314

SERIAL ENCODER BATTERY ERROR

Flow Chart C
Continued from A
Poor connection in the battery system or
reduced battery power is suspected.

Turn OFF the NX100 power.

Check the battery connection of the
voltage converter board of manipulator.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check the battery voltage
inside the manipulator.
Yes

Alarm?

No

Turn OFF the NX100 power.

Replace the battery inside
the manipulator.
Yes

Alarm?

No

Battery failure

Loose connection or disconnection

of the encoder battery line inside
the manipulator is suspected.

Turn OFF the NX100 power.

Check if the encoder battery line

connectors inside the manipulator
are properly connected.
Yes

Alarm?

No

Connection failure

Turn OFF the NX100 power.

Check for disconnection of the encoder
battery line inside the manipulator.
No

Disconnected?

Yes

Turn OFF the NX100 power.

Replace the encoder battery line.

Yes

Alarm?

No

Cable disconnection

End of corrective
measures

Go to D

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AL-4314

SERIAL ENCODER BATTERY ERROR

Flow Chart D
Continued from C

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the AXA01 board is suspected.

Turn OFF the NX100 power.

Replace the AXA01 board.

(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Turn OFF the NX100 power.

Check the connections (removal and

reinsertion) between AXA01, AXB01,
and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the encoder is suspected.

Turn OFF the NX100 power.

Replace the defective motor
(encoder).
Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

Failure in the AXA01 board is suspected.

Replace the AXA01 board
(Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.

Reset the NX100 by turning

OFF and ON the power.
Yes

Alarm?

Failure in the AXB01 board is suspected.

No
Turn OFF the NX100 power.

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

(Refer to Appendix 3-1.)

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.
(Refer to Appendix 2-1.)

Check the connections (removal and

reinsertion) between the AXB01 and
encoder. (Refer to Appendix 3-1.)
Alarm?

No

Turn OFF the NX100 power.

Turn OFF the NX100 power.

Yes

Alarm?

Yes

Alarm?

No

Cable failure

Connection failure
Contact your Yaskawa representative.

Failure in the XEI01 board is suspected.

Turn OFF the NX100 power.

Replace the XEI01 board
(Refer to Appendix 3-1.)
Yes

Alarm?

No

XEI01 board
failure

Failure in the COV03 board is suspected.

Turn OFF the NX100 power.

Replace the COV03 board

(Refer to Appendix 3-1.)
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.

Reset the NX100 by turning
OFF and ON the power.
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

Turn OFF the NX100 power.

Check the connections (removal
and reinsertion) between AXA01,
AXB01, and encoder.
(Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred
Flow Chart A

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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

Check the cable connections

(removal and reinsertion) between
AXA01, AXB01, and encoder.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.)
(Refer to Appendix 5-1, 6-1.)
No

Alarm?

Yes

Failure in the regenerative

resister is suspected.
Turn OFF the NX100 power.
Replace the regenerative resistor.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Regenerative
resistor failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred
Flow Chart A
The alarm occurs.
Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check for ground fault.

Go to B

Yes

A ground fault has

occurred.

No

Failure in the amplifier is suspected.

Turn OFF the NX100 power.

Replace the amplifier.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Amplifier failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

Turn OFF the NX100 power.

Replace the manipulator cable.

Go to C
Yes
Failure in the power cable is suspected.

Alarm?

No

Failure in the motor is suspected.

Turn OFF the NX100 power.

Turn OFF the NX100 power.

Replace the power cable.

Replace the motor.

Yes

Alarm?

No

Yes

Contact your Yaskawa representative.

Manipulator
cable failure

Alarm?

No

Motor failure

Contact your Yaskawa representative.

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

Turn OFF the NX100 power.

*Fall prevention measures
Remove CN08 of the NTU01 unit.
(Refer to Appendix 4-1.)
Turn ON the servo power with the amplifier
power cable in the NX100 disconnected.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Check for connections between the

connector on the side of the NX100
(connecting the manipulator cable),
amplifier, and converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the amplifier is suspected.

Turn OFF the NX100 power.

Replace the amplifier.
(Refer to Appendix5-1, 6-1.)
Yes

Alarm?

No

Amplifier failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred
Flow Chart A

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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

Check the cable connections

between AXA01, AXB01, and
converter. (Refer to Appendix 2-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXA01/AXB01
board failure

End of corrective
measures

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AL-4336

OPEN PHASE (Converter)

Flow Chart B

Continued from A
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 the contactor damage

(melting/sticking).
Yes

Alarm?

No

Turn OFF the NX100 power.

Replace the contactor.
(Refer to Appendix 4-1.)
Yes

Alarm?

No

Contactor failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.

Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the axis in which the alarm occurred
Flow Chart A

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check if the alarm occurs

when the servo power is OFF.
No

Alarm occurs when servo

is OFF.

Yes

Check if the alarm occurs

when the servo power is ON.
Go to B

Yes

Alarm occurs when servo

is ON.

No

Check the cable connections

between AXA01, AXB01, and
converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the amplifier is suspected.

Turn OFF the NX100 power.

Replace the amplifier.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Amplifier failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXA01/AXB01
board failure

End of corrective
measures

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AL-4337

OVER CURRENT (AMPLIFIER)

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

Failure in the amplifier is suspected.

Turn OFF the NX100 power.

Replace the amplifier.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Amplifier failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
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.
Turn OFF the NX100 power.

Replace the manipulator cable.

Yes

Alarm?

No

Manipulator
cable failure

Failure in the motor is suspected.

Turn OFF the NX100 power.

Replace the motor.

Yes

Alarm?

No

Contact your Yaskawa representative.

Motor failure

End of corrective
measures

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AL-4337

OVER CURRENT (AMPLIFIER)

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.

Turn OFF the NX100 power.

Turn OFF the NX100 power.

Remove CN08 of the NTU01 unit.

(Refer to Appendix 4-1.)

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

Failure in the amplifier is suspected.

Turn OFF the NX100 power.

Replace the amplifier.
(Refer to Appendix5-1, 6-1.)
Yes

Alarm?

No

Amplifier failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.

Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the cable connections

between AXA01, AXB01, converter,
and regenerative resistor.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the regenerative

resistor is suspected.

Turn OFF the NX100 power.

Replace the regenerative resistor.

(Refer to Appendix 1-1.)
Yes

Alarm?

No

Regenerative
resistor failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check if the alarm occurs

when the servo power is OFF.
Alarm occurs when servo
is OFF.
No
Yes
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 the cable connections between

AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXA01/AXB01
board failure

End of corrective
measures

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HW0483057

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Leave the NX100 for 10 minutes

with its power turned ON.

Turn ON the servo power.

Yes

Alarm?

No

Check the cable connections between

AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.
Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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).
Sub Code: Signifies the axis in which the alarm occurred

The alarm occurs.

Reset the alarm with
the programming pendant.
Yes

Alarm?

No

Reset the NX100 by turning

OFF and ON the power.
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

Replace the defective motor (encoder).

Yes

Alarm?

No

Encoder failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.

Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01
board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
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

Check the cable connections between

AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

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.
Sub Code: Signifies the physical No. of converter in which the alarm occurred

The alarm occurs.

Reset the NX100 by turning
OFF and ON the power.
Yes

Alarm?

No

Check the cable connections between

AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)
Yes

Alarm?

No

Connection failure

Failure in the converter is suspected.

Turn OFF the NX100 power.

Replace the converter.
(Refer to Appendix 5-1, 6-1.)
Yes

Alarm?

No

Converter failure

Failure in the circuit board AXA01

and/or AXB01 is suspected.
Turn OFF the NX100 power.

Replace the AXA01 and/or AXB01

board. (Refer to Appendix 3-1.)
Yes

Alarm?

No

Contact your Yaskawa representative.

AXA01/AXB01
board failure

End of corrective
measures

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HW0483057

Appendix 1-1 Internal Layout Drawings

Appendixes
Appendix 1-1 Internal Layout Drawings
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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Appendix 1-1 Internal Layout Drawings

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)

Regenerative resistor
(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

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
Monitor alarm display LED

Monitor alarm display LED

(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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Appendix 3-1 CPU Unit

External View of JZNC-NRK02W-W

Major axis control

circuit board
SGDR-AXA01A
Monitor alarm display LED

Control power supply unit

CPS-420F
Monitor alarm display LED
(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

YASKAWA ELECTRIC CORPORATION

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
Monitor alarm display LED

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
Monitor alarm display LED

(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)
Regenerative resistor

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

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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Appendix 7-1 Brake Release Unit

Internal Connections of JZRCR-NBU05-2 (1/2)

Blue
Blue

Blue/White
Blue/White

187
Fasten

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Appendix 7-1 Brake Release Unit

Internal Connections of JZRCR-NBU05-2 (2/2)

187 Fasten

187 Fasten

187 Fasten

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Appendix 7-1 Brake Release Unit

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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Appendix 8-1 Internal Connections and Alarms of the NX100

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

OVERHEAT (AMPLIFIER)

1306

AMPLIFIER TYPE MISMATCH

4306

AMPLIFIER READY
SIGNAL ERROR

1514

OVERHEAT (AMPLIFIER)

1306

AMPLIFIER TYPE MISMATCH

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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Appendix 8-1 Internal Connections and Alarms of the NX100

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
SUPPLY FAILURE (I/O)

[00000011]

NIF-F2

4109

DC24V POWER
SUPPLY FAILURE (I/O)

[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

OFF when unconnected.

[00000010]
-

Power is turned

OFF when unconnected.

[102]
-

A msg "Programming pendant is disconnected" appears

on blank screen.

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Appendix 8-1 Internal Connections and Alarms of the NX100

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

OVERHEAT (AMPLIFIER)

1306

AMPLIFIER TYPE MISMATCH

*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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Appendix 8-1 Internal Connections and Alarms of the NX100

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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Appendix 8-1 Internal Connections and Alarms of the NX100

SERVO PACK Connector

Insert the connector securely until it clicks.

Mechatro Link Connector

Insert the connector securely until it clicks.

Ethernet Connector for Programming Pendant

Insert the connector securely until it clicks.

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Appendix 8-1 Internal Connections and Alarms of the NX100

I/O Connector
Insert the connector and fix it with two
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.)
Insert the connector and fix it with two
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 ELECTRIC CORPORATION

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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