YASKAWA Motoman UP6 Instructions Manual page 427

Alarm Message
Number
4305 CONVERTER CIR-
CUIT CHARGE
ERROR
[Bit Pattern]
4306 AMPLIFIER READY
SIGNAL ERROR
[Bit Pattern]
4307 SERVO ON DEFEC-
TIVE SPEED
Robot/Statio
[Axis Data]
Alarm Message List
Cause
• There was no response (ready 2 signal) of
charge completed from convertor at servo
ON.
• While turning servo ON, the ready 2 signal
was intercepted.
• The ready 2 signal was not intercepted at
servo OFF (at emergency stop).
• While turning servo OFF (at emergency
stop), the ready 2 signal was turned ON.
Reasons are as follows:
• Mistaken wiring of connection for primary
side power supply.
• The drop of primary side power supply
(less than170V).
• Because the power supply cable of pri-
mary side was too fine or its cable was too
long, the voltage drop occurred at servo
ON.
• Defective WRCA01,WRCF01 circuit board
• Defective converter
• Defective amplifier (There is a possibility
that power circuit was short-circuited inter-
nally.)
• There was no response (amp ready signal)
of energizing completed from amplifier at
servo ON.
• While turning servo ON, the amp ready
signal was intercepted.
• The amp ready signal was not intercepted
at servo OFF (at emergency stop).
• While turning servo OFF (at emergency
stop), the amp ready signal was turned
ON.
Reasons are as follows:
• Defective WRCA01,WRCF01 circuit board
• Defective converter
• Defective amplifier (There is a possibility
that power circuit was short-circuited inter-
nally.)
• While encoder was rotating, the servo
power supply was turned on. Impossible t
turn on control power supply in the rotation
• 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 servo control power supply was turned
back on this status, this alarm occurred.
10-37
10.3 Alarm Message List
Remedy
• Check that primary power supply is more
than 170V.
• Replace the amplifier.
• If the error occurs again, replace the
WRCA01 circuit board, WRCF01 circuit
board, the converter.
• Reset the alarm and turn servo ON
again.
• If the error occurs again, replace the
WRCA01 circuit board, WRCF01 circuit
board, the converter.
Check the timing of turning on servo
power supply again.