YASKAWA Motoman UP6 Instructions Manual page 418

10.3 Alarm Message List
Alarm Message
Number
1342 OVER SPEED
(XFC01)
Robot/Station
[Axis Data]
1343 COMMUNICATION
ERROR
(XFC01)
Robot/Station
[Axis Data]
Alarm Message List
Cause
The motor speed displayed in the axis data
exceeded the allowable maximum motor
speed.
• Improper wiring of motor lines U, V and W.
• Wrong type of motor was used.
• Motor was moved by an external force.
• Defective XFC01 circuit board
• Defective motor (encoder)
The communication error occurred between
the WRCA01 and the XFC01 circuit board.
• Faulty connection between the WRCA01
board and the XFC01 circuit board.
• Defective WRCA01 boar
• Defective XFC01 circuit board
10-28
Remedy
• Check the motor wiring.
• Check the robot movement when the
alarm occurred to make sure that no
external force has been applied.
• Check the wiring of motor lines U, V and
W.
• Reduce the teaching speed from the
speed when the alarm occurred to
check if the same error will occur. With
some taught postures, the R-, B-, or T-
axis may operate at a high speed during
linear interpolation. In this case, review
the teaching.
<Error in robot axis>
Check that the type of motor is 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 same as actual
installed one. If the set data by syste
configuration is correct, replace installed
motor with correct one. If set data by
system configuration is not correct, set
the correct system configuration.
• If the error occurs again, replace the
XFC01 circuit board.
• Check the connection of the WRCA01
board and the XFC01 circuit board.
• Replace the WRCA01 board and the
XFC01 circuit board.
• If the error occurs again, contact your
YASKAWA representative.