YASKAWA Motoman UP6 Instructions Manual page 519

AL-4302 (BRAKE CIRCUIT ERROR)
XIU01-!!
XTU01
K14
K15 K13
Fig. 23
An alarm
occurs.
Turn the control power supply OFF
and then ON.
Alarm?
Yes
Confirm that relay K15 of the XTU01
circuit board is not stuck or
disconnected.
(See Fig. 23.)
Alarm?
Yes
Replace the XTU01 circuit board.
Alarm?
Yes
Replace the WRCA01 circuit board.
Alarm?
Yes
Contact your Yaskawa
representative.
53
No
Continue normal operation.
The wrong operation of the WRCA
circuit board caused the alarm.
No
Continue normal operation.
The defective relay caused the alarm.
No
Continue normal operation.
The defective XTU01 circuit
board caused the alarm.
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.