Yamaha TS-S User Manual page 170

No.
8A
8B
8C
8D
8E
8F
6
90
91
92
93
94
97
6-6
Message Meaning
Absolute battery voltage
ABS. BATTERY ERR. dropped below the low
TS-X TS-SH error detection level
(2.5V).
Robot moved at
acceleration higher than
ABS. COUNT ERROR
the specified value
TS-X TS-SH
during absolute battery
operation.
Mismatch of absolute
ABS. ME. ERROR
multi-turn data and
TS-X TS-SH
position data
Absolute multi-turn data
ABS.OVERFLOW ERR.
exceeded the specified
TS-X TS-SH
value.
Current higher than the
OVERCURRENT allowable current flow
was detected.
MOTOR CURRENT Motor current does not
ERR. follow up on command.
POLE SEARCH ERROR Failed to estimate the
TS-P magnetic pole position.
Communication error
INT. COMM. ERROR occurred between CPU
and I/O module.
CPU stopped due to
CPU ERROR
error.
I/O module stopped due
I/O FAULT
to error.
MOTOR LINE Motor line disconnection
DISCONNECTION was detected during
TS-S2 TS-SH servo ON.
Excitation power voltage
ENC. POWER DOWN
(12V) for position
TS-SH
detection dropped.
Possible Cause
Absolute battery is disconnected.
Absolute battery has worn out or
failed.
Large external force was applied to
the robot drive unit while the control
power supply was shut off.
Position detection circuit failed.
Position detection circuit failed.
Robot moved to a position outside of
specified value.
Position detection circuit failed.
Robot drive unit collided with some
objects.
Motor cable is shorted.
Motor failed.
Motor cable is disconnected.
Motor cable broke or failed.
Motor failed.
Wrong robot setting
Magnetic pole position was estimated
while external force was applied.
CPU peripheral circuits failed.
CPU failed.
I/O power supply is not input or
exceeds a range of DC24V ± 10%.
I/O power supply is turned off by the
NPN/PNP.
I/O module failed.
Motor cable is not securely
connected.
Motor cable broke or failed.
Motor failed.
Controller failed.
Controller failed.
HT1 failed.
Action
Connect the absolute
battery correctly.
Replace the absolute
battery.
Recheck the surrounding
environment where the
robot is used.
Replace the controller.
Replace the controller.
Check the operating
conditions and
environment.
Replace the controller.
Check the operation
pattern.
Replace the motor cable.
Replace the motor.
Connect the motor cable
correctly.
Replace the motor cable.
Replace the motor.
Make correct robot
setting.
Recheck the surrounding
environment where the
robot is used.
Cancel the alarm.
If the alarm occurs again,
replace the controller.
Cancel the alarm.
If the alarm occurs again,
replace the controller.
Input a voltage of DC24V
± 10% to the I/O power
supply.
Turn the I/O power
supply back on.
Cancel the alarm (For
the NPN/PNP, turn off
the I/O power supply,
and then turn it on again
before cancelling the
alarm.).
If the alarm occurs again,
replace the controller.
Connect the motor cable
correctly.
Replace the motor cable.
Replace the motor.
Replace the controller.
Replace the controller.
Replace the HT1.