Yamaha RCX222 User Manual page 466

[22] Major hardware errors
22.3 : DC24V power low
Chapter
9
22.7 : Main power low
22.9 : Abnormal over voltage
9-50
Code : &H1603
Meaning/Cause : a. DC 24V power supply malfunctioned and the voltage
dropped.
b. Electromagnetic brake for vertical axis is defective.
c. Wiring for electromagnetic brake of vertical axis is wrong.
d. Short in DC 24V for safety connector.
Action : 1. Replace the controller.
2. Replace the vertical axis electromagnetic brake.
3. Replace the ROB I/O cable.
4. Check the SAFETY connector wiring.
Dedicated output : *1
Code : &H1607
Meaning/Cause : Main power voltage dropped when the servo was turned on or
during servo-on.
Action : Check whether main power is input.
Code : &H1609
Meaning/Cause : a. Output voltage for motor power supply exceeded 420 volts.
b. Regenerative unit not connected to controller.
c. Regenerative unit safety device triggered due to temperature
rise (120 ° C or more) in regeneration damping resistor.
d. Cable connecting regenerative unit and controller is
defective.
e. Regenerative unit is defective.
f. Safety connector is used incorrectly.
Action : 1. Check the power supply voltage.
2. Connect the regenerative unit.
3. Lower the robot operating duty.
4. Replace the RGEN cable.
5. Replace the regenerative unit.
6. Do not supply DC 24V to SAFETY connector from external
source.