Alarm Message List - Yamaha DRCX User Manual

13-2 Alarm and Countermeasures
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13-2-2 Alarm message list

Alarm No.
Alarm Message Meaning
01
OVER LOAD Excessive load
on motor
02 OVER Motor drawing
CURRENT too much current
03
OVER HEAT Transistor has
heated to 90°C or
more.
04
POWER Power supply
DOWN voltage has
dropped to less
than 85% of rated
value.
05 BATT.LOW- System backup
VOLTAGE battery voltage is
low.
06 24V POWER 24V power is not
OFF supplied.
Possible Cause
q q
Improper operation
w w
Motor failure
e e
Parameter error
r r
Electromagnetic brake failure or
wire broken
t t
Wrong power supply voltage
setting
y y
Insufficient power supply capacity
u u
Excessive friction in robot
q q
Motor wire shorted
w w
Motor failure
e e
Controller failure
r r
Parameter error
q q
Rise in ambient temperature
(above 40°C)
w w
Excessive load on motor
e e
Defective transistor
q q
Insufficient power supply capacity
w w
Wrong power supply voltage
being used
q qw
Battery worn out.
w
Battery failure
q q
24V power supply is not
connected to A13 and B13 of the
I/O connector.
w w
Fuse has blown due to short-
circuit or excessive current flow
in the 24V circuit.
Action
Lower the operation duty on the robot
or reduce the acceleration parameter,
or correct the payload parameter.
If the motor armature resistance is too
low or the motor movement is
sluggish when turned by hand, then
replace the motor assembly.
Initialize the parameters and check
the robot type setting.
Supply 24V to the brake wire to check
whether the brake is released.
Check the voltage setting
(100V/200V).
Check the power supply capacity. If
too low, use a power supply of larger
capacity.
Check whether the robot moving parts
work sluggishly. If sluggish, then
adjust the mechanical alignment.
Check the motor wires for electrical
continuity, and replace the motor
assembly if abnormality is found.
Replace the motor if internally
shorted.
If the resistance between motor
terminals U and V or V and W is less
than 1 kilo-ohms, the output transistor
is defective, so replace the DRCX
controller.
* The resistance between U and W is
about 24Ω, but this is a normal
value.
Initialize the parameters and check the
robot type setting.
Correct the ambient environmental
conditions.
(Install a cooling fan.)
Lower the operational duty on the
robot.
If the controller is being used
correctly, the transistor is probably
defective, so replace the DRCX
controller.
Check the power supply capacity. If
insufficient, use a power supply having
larger capacity. (Power is consumed
mostly during return-to-origin of
stroke end detection, robot start-up and
acceleration/deceleration.)
Check the voltage specifications
indicated on the front panel of the
controller.
Replace the battery. (If not
possible to replace the battery
immediately, then temporarily set
bit 3 of PRM20 to "1").
Check the 24V power supply.
Check for short-circuit using a multi-
meter or recheck the I/O connections.