Yamaha RCX222 User Manual page 498

[17] Motor control errors
17.42 : Cannot reset position
Chapter
9
17.73 : Resolver wire breakage
17.78 : Power module error
17.81 : ABS.battery wire breakage
17.82 : CS read error
17.83 : Backup position data error 1
9-46
Code
: &H112A
Meaning/Cause : ABSINIT or ABSINIT2 statement was executed at a position
where the current position cannot be reset.
Action : Move to a position where the current position can be reset,
and then execute the ABSINIT or ABSINIT2 statement.
Code : &H1149
Meaning/Cause : a. Resolver signal wire is broken.
b. Motor malfunction occurred.
c. Controller malfunction occurred.
Action : 1. Replace the ROB I/O cable.
2. Replace the motor.
3. Replace the controller.
Code : &H114E
Meaning/Cause : a. Power module overheated.
b. Power module/motor drew excessive current.
Action : Lighten the load on the robot.
Code : &H1151
Meaning/Cause : a. Absolute battery cable is broken.
b. Absolute battery cable is not connected.
c. Drop in absolute battery voltage.
Action : 1. Replace the absolute battery.
2. Connect the absolute battery.
3. Enable the "Incremental mode control" parameter for use in
incremental mode.
Code : &H1152
Meaning/Cause : Readout check of resolver electrical angle information failed
twice
Action : 1. Perform absolute reset.
2. Replace the motor.
3. Replace the controller.
Code : &H1153
Meaning/Cause : Backup position information did not match the resolver angle
information when robot position information was recalculated
at controller startup.
Action : Perform absolute reset.