Error alarm..?

[Lehas]

Hi
I Need help with robot Motoman: problem 4109, Any body can help what problem is it and how i can decide it ?

[Jack]

XRC or NX ? Either way 24v supply error, or blown fuse.

[slinky]

try disconnecting all external connections with the exception of the robot arm and see if you still get an alarm. This will determine whether the fault lies within the robot system or part of the external user system.

[Lehas]

Thanks. this problem was with blown fuse. I work with NX100.
But now new problem with "clean" program . I have clean program, in Teach mode (test+interlock) it work well, but when i use with master program it did not work.
Master program example: What problem now it will be ?
/JOB
//NAME MASTER
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 2006/09/27 11:47
///ATTR SC,RW
NOP
CALL JOB:R1-SAFE
CALL JOB:S1-SAFE
CALL JOB:S2-SAFE
SET D000 0
*START
'Waiting for start...
DOUT OT#(18) ON
DOUT OT#(20) ON
JUMP *S1 IF IN#(17)=ON
JUMP *S2 IF IN#(19)=ON
JUMP *START
*S1
TIMER T=0.50
PULSE OT#(17)
DOUT OT#(18) OFF
'--------------------------------
'Job in STATION 1:
CALL JOB:2651
'--------------------------------
CALL JOB:S1-SAFE
DOUT OT#(18) ON
JUMP *CLEANING
END

[Jack]

Hi, The master program you show has a jump to *cleaning, this is just a jump to label command.
I guess you were getting a alarm label does not exist ?
If you replace this line and make it CALL JOB; CLEAN it will then work.

[Stormtrooper]

In addition to the jump *CLEAN command you have also used a jump *S2 which is not defined.