YASKAWA Motoman UP6 Instructions Manual page 396

10.3 Alarm Message List
Alarm Message
Number
0021 COMMUNICATION
ERROR(SERVO
[Decimal Data]
0030 ROM ERROR
[Decimal Data]
Alarm Message List
Cause
• The connection of communication cable
for servopack was not completed.
• The connection of communication cable
for servopack was not cut.
• The connection of terminal connector was
not completed.
• The terminal connector was unusual.
• The circuit board was out of order.
• (The terminal connector was equipped
for a system).
Data stands for an error circuit board
50:WRCA01 circuit board (#1
51:WRCA01 circuit board (#2
52:WRCA01 circuit board (#3
53:WRCA01 circuit board (#4
54:WRCA01 circuit board (#5
55:WRCA01 circuit board (#6
(Note)
WRCA01 circuit board (# .)
The setting value of rotary switch on the
WRCA01 circuit board is ( . -1).
An error was found by sum check of syste
program.
Data stands for an error circuit board
1:XCP01 circuit board
2:XSP01 circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (#. -")
.:Slot NO.
":0 ) XCP02 circuit board (main)
1 ) Sub-board1(connector CNSL side)
2 ) Sub-board2(connector CNET side
50:WRCA01 circuit board (#1
51:WRCA01 circuit board (#2
52:WRCA01 circuit board (#3
53:WRCA01 circuit board (#4
54:WRCA01 circuit board (#5
55:WRCA01 circuit board (#6
(Note)
WRCA01 circuit board (# .)
The setting value of rotary switch on the
WRCA01 circuit board is ( . -1).
10-6
Remedy
• Check the connection of communication
cable for servopack.
• (XCP01(CN05 - WRCA(#*)(CN10 cable,
WRCA(CN10(#*) - WRCA
• CN10(#*) cable)
• Replace the communication connector
for servopack.
• Check the connection of the terminal
connector (WRCA(CN10(#*)).
• Replace the terminal connector.
• Replace the circuit board.
• Replace the circuit board.
• When the XCP01 circuit board is
replaced, consult YASKAWA representa-
tive.