YASKAWA Motoman UP6 Instructions Manual page 512

AL-1327 (ENCODER OVER SPEED)
SERVOPACK
CNPG456
CNPG123
Fig. 14
XIU01-!!
XTU01
K14
K15 K13
Fig. 15
An alarm
occurs.
Does the axis fall when
the servo is turned ON?
No Yes
Is it an axis with a brake?
Yes No
Confirm that relay K13 of the XTU01
circuit board is not stuck or
disconnected. (See Fig. 15.)
Alarm?
Yes
Remove connectors CNPG123 and
CNPG456 on the corresponding WRCA01
circuit board and re-insert them.
Alarm?
Yes
Replace the motor (encoder).
Alarm?
Yes
Contact your Yaskawa
representative.
46
Turn the servo OFF when the
axis is in a position where the
axis does not fall when the
servo is ON.
Continue normal operation.
Continue normal operation.
No
The defective relay caused the alarm.
Continue normal operation.
No
A faulty connection caused the alarm.
No
Continue normal operation.
The defective encoder caused the alarm.