Yamaha RCX240 User Manual page 575

17.22 : Bad PZ
Code
Meaning/Cause
a. Motor is defective.
b. Resolver signal wire is broken.
17.28 : Dual P.E. counter overflow
Code
Meaning/Cause
On a dual-axis drive, the position
differential between the main axis and
sub axis is too large.
a. Friction in the robot drive section is too
large.
b. Motor brake wiring is broken.
17.30 : Bad position
Code
Dedicated output : *2
Meaning/Cause
Cannot perform positioning.
17.31 : Servo off
Code
Meaning/Cause
Movement command was attempted in
servo OFF state.
17.33 : Busy now
Code
Dedicated output : *2
Meaning/Cause
a. Servo-Off command was attempted
while the driver was stopped.
b. Return-to-origin command was
attempted before manual movement
was complete.
: &H1116
: &H111C
: &H111E
: &H111F
: &H1121
[17] Motor control errors
Action
1. Replace the motor.
2. Replace the ROB I/O cable.
Action
1. Check the drive sections for
assembled condition and lubrication
to ensure smooth movement.
2. Check that the motor brake works
properly.
Action
1. Turn the power off and then on again.
2. Replace the controller.
Action
Change status to servo ON.
Action
1. Turn off the power to the controller
and then turn it back on.
2. Wait until the command has
finished.
TROUBLESHOOTING
A
A-53