Yamaha SRCP User Manual page 224

13-2 Alarm and Countermeasures
13
6
13-
Alarm No. Alarm Message Meaning
16 ABNORMAL Excessive voltage
VOLTAGE (higher than
420V) generated
17 SYSTEM Controller's
FAULT 2 internal LSI error
18 FEEDBACK Mechanical
ERROR 3 lockup
19 SYSTEM CPU error
FAULT 3
20 Not used
21 Not used
22 VERSION Wrong
MISMATCH combination of
PB and controller
Not used
23
Not used
24
Not used
25
26 FEEDBACK Motor wire
ERROR 4 breakage or
misconnection
27 POLE Failed to detect
SEARCH magnetic pole.
ERROR
Possible Cause
q q
Rise in regenerative absorption
resistor temperature (above
120°C).
w w
Wrong power supply voltage
q q
Internal LSI failure or
malfunction
q q
The robot slider struck on an
obstacle or mechanical damper.
w w
Motor is miswired.
e e
Mechanical lockup detection
sensitivity is too high.
r r
Parameter error
q q
External noise or other factors
have disrupted software program.
w w
CPU failure or malfunction
q q
The PB used does not match the
controller.
q q
Motor wire is broken or connected
wrong.
w w
Parameter error
e e
Wrong power supply voltage
r r
Insufficient power supply capacity
q q
Motor wire is broken or
misconnected
w w
Position signal wire is
misconnected.
e e
Parameter error
Action
Lower the operation duty on the
robot, or install a cooling fan.
Check the power supply voltage.
If the error occurs frequently, then the
LSI is probably defective, so replace
the SRCP controller.
Remove the obstacle or correct the
point data or origin position.
Check the motor wire connection.
Adjust the mechanical lockup
detection sensitivity (PRM31).
Initialize the parameters.
Check the environment for noise.
If the error occurs frequently, then the
CPU is defective. Replace the SRCP
controller.
Replace the PB.
Check the motor wire connection.
Initialize the parameters.
Check the power supply voltage.
Check the power supply capacity. If
too low, use a power supply of larger
capacity.
Check the motor wire connection.
Check the position signal wire
connection.
Initialize the parameters.