YASKAWA Motoman UP6 Instructions Manual page 527

AL-4311 (ENCODER BACK-UP ERROR)
When this alarm occurs, the data for the
accumulated rotation is lost. To restart an
operation after removing the cause of the error,
perform the zero-point positioning, paying
attention to the robot's working envelope.
SERVOPACK
CNPG456
CNPG123
Fig. 34
An alarm
occurs.
Reset the alarm on the display of the
programming pendant.
Alarm?
Yes
Does the battery error
occur?
No Yes
Replace the battery.
Alarm?
Yes
Check if the battery cable is
disconnected or damaged.
Alarm?
Yes
Remove connectors CNPB123 and
CNPB456 of the WRCA01 circuit board
and re-insert them. (See Fig. 34.)
Alarm?
Yes
Contact your Yaskawa
representative.
61
No
Continue normal operation.
Clearing the data when the motor
was replaced etc. caused the alarm.
No
Continue normal operation.
The data was cleared because the
battery was low causing the alarm.
No
Continue normal operation.
The diconnected battery cable caused the alarm.
No
Continue normal operation.
A faulty connection caused the alarm.