Al-4307 (Servo On Difective Speed) - YASKAWA Motoman UP6 Instructions Manual

AL-4307 (SERVO ON DEFECTIVE SPEED)
XIU01-!!
XTU01
K14
K15 K13
Fig. 32
An alarm
occurs.
Does the axis fall when
the servo is 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. 32.)
Alarm?
Yes
Remove connectors CNPG123 and
CNPG456 on the corresponding WRCA01
circuit board and re-insert them.
Alarm?
Yes
Check the connector of the amplifier's
power line.
Alarm?
Yes
Check the connector of the power
supply cable on the robot.
Alarm?
Yes
Contact your Yaskawa
representative.
Turn the servo OFF when the
axis is in a position where the
axis does not fall when the
servo is ON.
No
Continue normal operation.
The defective relay caused the alarm.
No
No
No
A faulty connection caused the alarm.
58
Continue normal operation.
Continue normal operation.