YASKAWA Motoman UP6 Instructions Manual page 417

Alarm Message
Number
1331 CURRENT FEED-
BACK ERROR
(U PHASE)
Robot/Statio
[Axis Data]
1332 CURRENT FEED-
BACK ERROR
(V PHASE)
Robot/Statio
[Axis Data]
1335 ENCODER NOT
RESET
Robot/Statio
[Axis Data]
1336 XFC01 NOT
INSTALLED
1337 SPEED MONITOR
LEVEL NOT SAME
1338 SPEED MONITOR
LEVEL ERROR
1339 SPEED MONITOR
LEVEL ERR (XFC01
1340 BROKEN SPEE
MONITOR LINE
1341 BROKEN SPEE
MONITOR LINE
(XFC01)
Alarm Message List
Cause
When the phase balance of the motor cur
rent was automatically adjusted, the read U
phase current value was abnormal.
• Defective WRCA01 circuit board
• Defective amplifier
When the phase balance of the motor cur
rent was automatically adjusted, the read V
phase current value was abnormal.
• Defective WRCA01 circuit board
• Defective amplifier
Reset was not completed though encoder
backup error reset was requested. It may
be possible that the battery is not connected
with the encoder.
The speed monitoring board (XFC01) is not
mounted although it has been specified.
The error occurred in the speed monitoring
level signal (duplicated signal check).
The error occurred in the speed monitoring
level signal (signal error).
The error occurred in the speed monitoring
level signal.
• Disconnected cable between the I/O con-
tactor unit and the XFC01 circuit boar
• Disconnected cable between the I/O con-
tactor unit and the XCI01 circuit board
• Defective I/O contactor unit
• Defective XFC01 circuit board
The speed monitoring command cable is
disconnected.
The error occurred in the speed monitoring
level signal.
• Disconnected cable between the I/O con-
tactor unit and the XFC01 circuit boar
• Disconnected cable between the I/O con-
tactor unit and the XCI01 circuit board
• Defective I/O contactor unit
• Defective XFC01 circuit board
10-27
10.3 Alarm Message List
Remedy
Turn the power off then back on. If the
phenomenon occurs again after repeating
this operation several times, replace the
WRCA01 circuit board, amplifier 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, amplifier for axis
the error occurred.
• Connect the battery with the encoder.
Contact your YASKAWA representative
because the breakdown of the encoder
is thought when the alarm occurs again
even if the battery is connected.
Mount the speed monitoring board
(XFC01).
• Check the connection cables of the I/O
contactor unit.
• Replace the WRCA01 board.
• Check the connection cables of the I/O
contactor unit.
• Replace the WRCA01 board.
• Check the cable connection between the
I/O contactor unit and the XFC01 circuit
board.
• Check the cable connection between the
I/O contactor unit and the XCI01 circuit
board.
• Replace the I/O contactor unit and the
XFC01 circuit board.
• If the error occurs again, contact you
YASKAWA representative.
• Check the connection cable of the I/O
contactor unit.
• Replace the WRCA01 board.
• Check the cable connection between the
I/O contactor unit and the XFC01 circuit
board.
• Check the cable connection between the
I/O contactor unit and the XCI01 circuit
board.
• Replace the I/O contactor unit and the
XFC01 circuit board.
• If the error occurs again, contact you
YASKAWA representative.