Al-1314 (Servo Tracking Error) - YASKAWA Motoman UP6 Instructions Manual

AL-1314 (SERVO TRACKING ERROR)

On the display of axis data, the axis where an error occurs is high-lighted.
Continue normal
operation.
Replace the servo unit.
Yes
Contact your Yaskawa
representative.
H13
Is the wiring for the motor
correct?
Yes No
Correct the wiring.
Alarm?
No Yes
Does the alarm occur when the
robot is at a specific position?
No Yes
Alarm?
No
An alarm
occurs.
Does the alarm occur
during operation?
No Yes
Is anything touching the
workpiece or tool?
No
Remove the workpiece
and the tool.
Alarm?
Yes
Was "MOVJ" the move
instruction at the position
where the alarm occurred?
No Yes
Does the robot axis move at the
same time with any other axes?
No Yes
Reduce the motion speed.
Alarm?
Yes
35
Yes
No
No
Continue normal
operation.