Yamaha TS-S User Manual page 169

Error alarms (internal causes)
n
No. Message
81 AC POWER DOWN
82 ENCODER ERROR
ABS. ENCODER ERR.
83
TS-X TS-SH
IPM ERROR
84
TS-X TS-P
85 OVERHEAT
86 OVERLOAD
87 OVERVOLTAGE
88 LOW VOLTAGE
89 POSITION ERROR
Meaning
Power supply voltage too low.
Momentary power outage (below 50%
Drop in control power of specified input voltage) occurred
supply voltage. for more than 40ms.
Power supply does not have
sufficient capacity.
Robot I/O cable is not securely
connected.
Robot I/O cable broke or failed.
Error occurred during
data exchange with
Wrong combination of controller and
position detector.
robot.
Position detector failed.
Position detection circuit failed.
Robot I/O cable is not securely
connected (when control power
supply is off).
Robot I/O cable is
Robot I/O cable broke or failed (when
disconnected or broke
control power supply is off).
(when control power
supply is off).
Absolute battery is disconnected.
Absolute battery has worn out or
failed.
Phases U, V and W in the motor
cable are shorted.
Excessive current flow
was detected. Motor failed.
Motor drive circuit failed.
Temperature protection
Ambient temperature is above 40˚C.
level (90˚C) was
exceeded.
Thermal sensor failed.
Rated current was exceeded.
Robot drive system collided with
Overload detection level
some objects.
was exceeded.
Electromagnetic brake is not working.
TS-S TS-S2 TS-X TS-SH
Wrong robot setting
Main power supply voltage exceeded
Overload detection level
the specified range.
(45V for TS-S TS-S2
Regenerative unit is not securely
TS-SH or 420V for
connected.
TS-X TS-P ) was
Regenerative unit connection cable
exceeded.
broke or failed.
Power supply voltage
Main power supply voltage does not
dropped below the low
reach the specified value.
voltage detection level
(15V for TS-S TS-S2
TS-SH or 180V for
Controller failed.
TS-X TS-P ).
Robot drive unit collided with some
objects.
Motor cable is not securely
connected.
Position deviation
overflow level was Motor cable broke or failed.
exceeded.
Wrong robot setting
Return-to-origin speed (K13) setting
is too high.
Possible Cause
Check the power supply.
TS-X TS-P
Connect the robot I/O
cable correctly.
Replace the robot I/O
cable.
Connect the correct
controller to a matching
robot.
Replace the motor.
Replace the controller.
Connect the robot I/O
cable correctly.
Replace the robot I/O
cable.
Connect the absolute
battery correctly.
Replace the absolute
battery.
Replace the motor cable.
Replace the motor.
Replace the controller.
Check the ambient
condition.
Replace the controller.
Reduce the load.
Set the payload correctly.
Lower the duty cycle.
Check the operation
pattern.
Supply the brake power
correctly.
Replace the brake.
Make correct robot setting.
Check the power supply.
Connect the regenerative
TS-X TS-P unit correctly.
Replace the connection
TS-X TS-P cable.
Check the power supply.
Replace the controller.
Check the operation
pattern.
Connect the motor cable
correctly.
Replace the motor cable.
Make correct robot
setting.
Reduce the setting.
Action
6
TS-X
TS-X TS-P
TS-X TS-P
6-5