YASKAWA Motoman UP6 Instructions Manual page 416

10.3 Alarm Message List
Alarm Message
Number
1325 COMMUNICATION
ERROR
(ENCODER)
Robot/Station
[Axis Data]
1326 DEFECTIVE
ENCODER ABSO
LUTE DATA
Robot/Station
[Axis Data]
1327 ENCODER OVER
SPEED
Robot/Station
[Axis Data]
1328 DEFECTIVE SERIAL
ENCODER
Robot/Station
[Axis Data]
1329 DEFECTIVE SERIAL
ENCODER COM-
MAND
Robot/Station
[Axis Data]
1330 MICRO PROGRAM
TRANSMIT ERROR
Robot/Station
[Axis Data]
Alarm Message List
Cause
The communication error between the
encoder and the WRCA01 circuit board.
• The wrong wiring of the encoder wire
• The type of motor was not correct.
• Defective WRCA01 circuit board
• Defective encoder
The error occured in the position detect
circuit board of encoder.
• The control power supply was turned on
when the encoder was rotating(400rpm o
more). Turning on the control power supply
can not be done when the motor is rotat
ing.
• The no brake axes, R,B,T axis for SK6,
freely fell when the servo power supply
was turned off by emergency stop. When
the power supply was turned back on this
status, this alarm occurred.
• In case this alarm occurred in a stop state,
it is thought that the encoder caused the
error.
The internal parameter of the serial encode
became abnormal. It is thought to be an
error of the encoder.
When the encoder backup error occurred,
normally the controller automatically resets
the data of the encoder. But, this was the
case there was no response of the reset
completion from the encoder. It is thought
that the encoder was abnormal.
Defective WRCA01 circuit board
10-26
Remedy
• Check the connection of the encoder dis-
played on axis data.
• Check whether there is equipment gen-
erating big noise around or not.
• Check the ground of controller is correct.
<Error in robot axis>
Check the type of motor is same as
described one on manual. If the type is
not correct, replace it with correct motor.
<Error in external axis>
Check the type of motor set by system
configuration is same as actual installed
one. If set data by system configuratio
is correct, replace installed motor with
correct one. If set data by system config-
uration is not correct, set the correct sys-
tem configuration.
• If the error occurs again, replace the
WRCA01 circuit board.
• Turn the power off then back on.
• If the error occurs again, replace the
motor(encoder for the axis where the
error occurred.
• Check the timing of turning on the con-
trol power supply.
• If the error occurs when the control
power supply is turned in a stopped
state, replace the motor (encoder) dis-
played on axis data.
Turn the power off then back on. If the
phenomenon occurs again after repeating
this operation several times, replace the
motor (encoder) for the axis where the
error occurred.
Turn the power off then back on. If the
phenomenon occurs again after repeating
this operation several times, replace the
motor (encoder) for the axis where the
error occurred.
Turn the power off then back on. If the
phenomenon occurs again after repeating
this operation several times, replace the
WRCA01 circuit board for the axis where
the error occurred.