Yamaha RCX142 User Manual page 440

1. Error Messages
22.3 : DC24V power low
22.9 : Abnormal over voltage
22.10 : Abnormal drop in voltage
10
46
10-
Code : &H1603
Meaning/Cause : a. DC 24V power supply malfunctioned and the voltage
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 robot I/O cable.
4. Check the SAFETY connector wiring.
Dedicated output : *1
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
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 connecting cable.
5. Replace the regenerative unit.
6. Do not supply DC 24V to SAFETY connector from external
Code
: &H160A
Meaning/Cause : a. Output voltage for motor power supply dropped below 140V.
b. Power supply has insufficient capacity.
c. Vertical axis electromagnetic brake is defective.
d. SAFETY connector is used incorrectly.
Action : 1. Check the power supply voltage.
2. Check if supply voltage drops during robot operation.
3. Lower the robot duty cycle.
4. Replace the vertical axis electromagnetic brake.
5. Do not supply DC 24V to SAFETY connector from external
6. Do not use DC 24V from SAFETY connector as power
dropped.
rise (120°C or more) in regeneration damping resistor.
source.
source.
source for driving external loads.