Al-1325 (Communication Error (Encoder)) - YASKAWA Motoman UP6 Instructions Manual

AL-1325 (COMMUNICATION ERROR (ENCODER))

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. 11
XEI01
Fig. 12
Does the alarm occur at the
encoder of the servo gun axis?
No
Replace the motor (encoder).
Alarm?
Yes
Contact your Yaskawa
representative.
Check connection of the connectors
CNPG123 and CNPG456 on the WRCA01
circuit board.
(The connection of CNPG123 and
CNPG456.)
Alarm?
Yes
Remove the connectors CNPG of the
corresponding WRCA01 circuit board
and re-insert them. (See Fig. 11.)
Alarm?
Yes
Check the connection of the power
supply cable between the controller
and the robot.
Alarm?
Yes
Check the internal cable between the
connector on the back of the robot
and the motor.
Alarm?
Yes
Yes
Check connectors CN2 and CN4 on
the XEI circuit board. (See Fig. 12.)
Alarm?
Yes
Does the alarm always
occur?
Yes No
No
Take a corrective measure against
noise from the communications line.
Yes
An alarm
occurs.
Was the motor replaced?
No Yes
Check the encoder type.
(before and after the motor type is changed.)
Yes
No
No
A faulty connection caused the alarm.
No
The disconnected power supply cable caused the alarm.
No
The disconnected internal cable caused the alarm.
No
A faulty connection caused the alarm.
The defective encoder caused the alarm.
Alarm?
No
44
Alarm?
No
Continue normal operation.
Selection of the wrong encoder
caused the alarm.
Continue normal operation.
Continue normal operation.
Continue normal operation.
Continue normal operation.
Continue normal operation.
Continue normal operation.
The noise caused the alarm.