YASKAWA FS100 Maintenance Manual page 234

Alarm Alarm Name Sub
Number Code
4311 ENCODER BACK-UP
ERROR
4312 ENCODER BATTERY
ERROR
4315 COLLISION DETECT
Meaning Cause
Servo control board failure
Sub Code: Signifies the axis in Module failure (encoder
which the alarm occurred battery)
Connection failure
Module failure (encoder)
Servo control board failure
Module failure (encoder
battery)
Connection failure
Sub Code: Signifies the axis in Setting error
which the alarm occurred
Remedy
(1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
[AL-4314 occurred]
Replace the battery of the axis in which the error occurred.
[AL-1327 occurred]
Replace the battery of the axis in which the alarm occurred. If the home position
of the corresponding axis is displays as "***", register the home position.
(1)Reset the alarm
(2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
{Robot axis}
·Cable between encoders
{External axis}
·Cable between encoders
(1)Reset the alarm
(2)If the alarm occurs again, replace the encoder.
(1)Reset the alarm
(2)If the alarm occurs again, replace controller. Save the CMOS.BIN before
replace controller to be safe.
Replace the battery.
(1)Reset the alarm
(2)If the alarm occurs again, check the connection and inserting state of the
following cables and connectors.
·Manipulator cable
Check the following settings.
·The tool information
·The selection tap of the transfer
·The collision detection level
·JOB
·Work
·The speed of JOB
·The acceleration/deceleration speed of ACC and DEC
·Length of the power cables
·Diameter of the power cable
234 of 348