[26] Alarm Related To The Gripper - Omron YRCX Series Operation Manual

22.901 : CT type mismatch
A
22.902 : Position sensor type mismatch
22.903 : Driver unit disconnected
22.904 : Driver2 board disconnected
22.905 : Abnormal over voltage
22.906 : Break 24V power abnormal

[26] Alarm related to the gripper

26.97 : Undefined gripper type number
A-68
Code : &H0016 &H0385
Meaning/Cause
The correct current sensor controller is not used for the set robot.
Action Replace the current sensor controller with a correct one.
Code : &H0016 &H0386
Meaning/Cause The correct position sensor is not set for the set robot correctly.
Action
Contact your distributor.
Code : &H0016 &H0387
Meaning/Cause The CPU unit did not recognize the driver unit.
Action
Replace the controller.
Code : &H0016 &H0388
Meaning/Cause The CPU unit did not recognize the driver 2 board.
Action Replace the controller.
Code : &H0016 &H0389
a. Output voltage for motor power supply exceeded 420 V.
b. The regenerative unit safety device triggered due to temperature rise in regeneration
Meaning/Cause
damping resistor.
c. The regenerative unit is defective.
d. The SAFETY connector is used incorrectly.
• Check the power supply voltage.
Action
• Lower the robot duty cycle.
• Do not supply 24 V DC to the SAFETY connector from external source.
Code : &H0016 &H038A
The brake power voltage dropped.
a. Power was not supplied to BK 24 V.
Meaning/Cause
b. Brake cable was short-circuited.
c. Controller malfunctioned.
a. Supply the brake power.
Action
b. Replace the robot cable.
c. Replace the controller.
Code : &H001A &H0061
Meaning/Cause The specified type number gripper does not exist.
Action Input the correct gripper number.