Al-1307 (Encoder Type Mismatch) - YASKAWA Motoman UP6 Instructions Manual

AL-1307 (ENCODER TYPE MISMATCH)

The serial encoder type, 16-bit or 17-bit, is selected
according to the motor type:
A 16-bit encoder for the motor type SGM!!-A1A
A 17-bit encoder for SGM!!-A2A
A 12-bit absolute encoder for SGM!!-AW
SERVOPACK
CNPG456
CNPG123
Fig. 2
Check the connectors CNPG123 and
CNPG456 on the WRCA01 circuit board.
(The connection of CNPG 123 and CNPG
456.) (See Fig. 2.)
Remove the connectors CNPG123 and
CNPG456 on the corresponding WRCA01
circuit board and re-insert them. (See Fig. 2.)
Replace the encoder (or motor).
Was the motor replaced?
Alarm?
Yes
Alarm?
Yes
Alarm?
Yes
Contact your Yaskawa
representative.
An alarm
occurs.
No Yes
Check the type of encoder. (Check before
and after the motor type is changed.)
Alarm?
Yes
No
No
No
The defective encoder caused the alarm.
31
No
Continue normal operation.
Selection of the wrong encoder caused the alarm.
Continue normal operation.
A faulty connection caused the alarm.
Continue normal operation.