YASKAWA Motoman UP6 Instructions Manual page 413

Alarm Message
Number
1314 SERVO TRACKING
ERROR
Robot/Statio
[Axis Data]
1315 POSITION ERROR
Robot/Statio
[Axis Data]
1316 BROKEN PG LINE
Robot/Statio
[Axis Data]
Alarm Message List
Cause
The servo deflection of the axis displayed by
axis data became excessive, the robot was
shifted from instructed motion position or
tracks more than tolerance and operated
• The wrong wiring, the breaking of the wire
of UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Defective motor (encoder)
The number of pulses generated by one
rotation of the motor was not a regulated
pulse numbers. There is a possibility the
position was shifted. (But, if this alarm
occurred simultaneously with the alar
related to the encoder, it was thought this
alarm accompanied the encoder alarm.)
• Noise of outside equipment
• Defective WRCA01, WRCF01 circuit board
• Down of the power supply voltage for the
encoder
• Defective motor (encoder)
The break of the signal wire from encode
(But, this alarm may accompany the posi-
tion error alarm, the alarm related to the
encoder.)
• Noise of outside equipment
• Defective WRCA01, WRCF01 circuit board
• Decrease of the power supply voltage for
the encoder
• Defective motor (encoder)
10-23
10.3 Alarm Message List
Remedy
• Check whether the robot interferes with
the outside equipment. If the robot inter
feres, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by sys-
tem configuration is the same as the
actual installed one. If set data by sys-
tem configuration is correct, replace
installed motor with correct one. If set
data by system configuration is not cor
rect, set the correct system configura-
tion.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
• Check whether there is a equipment
generating loud noise.
• Check the ground of controller is correct.
• When the error occurred at external axis,
set the ferrite core on the encoder cable
for noise measure.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the motor for axis occurred the
error.
• Check the conduction of cable from the
WRCA01, WRCF circuit board to the
motor (encoder).
• Check whether there is equipment gen-
erating loud noise.
• Check the grounding of controller is cor-
rect.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the motor for the axis where
the error occurred.