YASKAWA Motoman UP6 Instructions Manual page 525

AL-4309 (DEFECTIVE ENCODER INTERNAL DATA)
SERVOPACK
CNPG456
CNPG123
Fig. 33
An alarm
occurs.
Turn the control power supply OFF
and then ON.
Alarm?
Yes
Remove connectors CNPG123 and CNPG456
on the corresponding WRCA01 circuit board
and re-insert them. (See Fig. 33.)
Alarm?
Yes
Replace the motor (encoder).
Alarm?
Yes
Contact your Yaskawa
representative.
59
No
Continue normal operation.
No
Continue normal operation.
A faulty connection caused the alarm.
No
Continue normal operation.
The defective encoder caused the alarm.