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No.
Message
Overload
86
OVERLOAD
detection level
was exceeded.
Overvoltage
protection level
87
OVERVOLTAGE
(420V) was
exceeded.
Power supply
voltage dropped
88
LOW VOLTAGE
below the low
voltage detection
level (180V).
Position deviation
POSITION
89
overflow level
ERROR
was exceeded.
Current
higher than
8E
OVERCURRENT
the allowable
current flow was
detected.
MOTOR
Motor current
8F
CURRENT
does not follow
ERR.
up on command.
Failed to estimate
POLE SEARCH
90
the magnetic
ERROR
pole position.
Communication
INT. COMM.
error occurred
91
ERROR
between CPU
and I/O module.
CPU stopped
92
CPU ERROR
due to error.
6.4 Alarms: Possible causes and actions
Meaning
Possible Cause
Rated current was
exceeded.
Robot drive system
collided with some objects.
Electromagnetic brake is
not working.
Wrong robot setting
Main power supply voltage
exceeded the specified range.
Regenerative unit is not
securely connected.
Regenerative unit
connection cable broke or
failed.
Main power supply voltage does
not reach the specified value.
Controller failed.
Robot drive unit collided
with some objects.
Motor cable is not
securely connected.
Motor cable broke or
failed.
Wrong robot setting
Robot drive unit collided
with some objects.
Phases U, V and W in the
motor cable are shorted.
Motor failed.
Motor cable is disconnected.
Motor cable broke or failed.
Motor failed.
Wrong robot setting
Magnetic pole position
was estimated while
external force was applied.
CPU peripheral circuits
failed.
CPU failed.
Chapter 6 Troubleshooting
Action
Reduce the load.
Set the payload
correctly.
Lower the duty cycle.
Check the
operation pattern.
Supply the brake
power correctly.
Replace the brake.
Make correct
robot setting.
Check the power
supply.
Connect the regenerative
unit correctly.
Replace the
connection cable.
Check the power
supply.
Replace the
controller.
Check the
operation pattern.
Connect the motor
cable correctly.
Replace the
motor cable.
Make correct
robot setting.
Check the
operation pattern.
Replace the
motor cable.
Replace the motor.
Connect the motor
cable correctly.
Replace the motor cable.
Replace the motor.
Make correct
robot setting.
Recheck the surrounding
environment where the
robot is used.
Cancel the alarm.
If the alarm
occurs again,
replace the
controller.
Cancel the alarm.
If the alarm
occurs again,
replace the
controller.
6-5
1
2
3
4
5
6
7
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