Yamaha DRCX User Manual page 287

13-2 Alarm and Countermeasures
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Alarm No. Alarm Message Meaning
16 ABNORMAL Excessive voltage
VOLTAGE (higher than
420V) generated
17 SYSTEM Controller's
FAULT 2 internal LSI error
18 FEEDBACK Motor cable is
ERROR 3 disconnected,
improperly wired
or overload
19 SYSTEM CPU error
FAULT 3
20 Not used
21 Not used
22 VERSION Wrong
combination of
MISMATCH
PB and controller
23 ABS.BAT.L- The absolute
VOLTAGE battery voltage is
low.
24 ABS.DATA Absolute data
error was
ERROR
detected.
Abnormal reset
25 ABS.DATA
ERROR 2
26 FEEDBACK Motor wire
ERROR 4 breakage or
misconnection
Possible Cause
q q
Rise in regenerative absorption
resistor temperature above
120°C).
w w
No regenerative unit is connected.
e e
Defective regenerative unit cables
r r
Incorrect power supply voltage
t t
Regenerative unit defect
q q
Internal LSI failure or
malfunction
q q
Motor wire is broken or
misconnected.
w w
The robot slider struck on an
obstacle or mechanical damper.
e e
Defective or disconnected
electromagnetic brake
r r
Parameter error
t t
Wrong power supply voltage
setting
y yu
Insufficient power supply capacity
u
Drop in voltage at stopper origin
q q
External noise or other factors
have disrupted software program.
w w
CPU failure or malfunction
q q
The PB used does not match the
controller.
q q
The absolute battery voltage is
low.
w w
The absolute battery is not
connected.
e e
End of the absolute battery service
life.
r r
The absolute battery is defective.
q q
Movement amount has exceeded
the limit (approx. ±4000 turns)
that can be retained during power
off.
w w
The absolute battery was
disconnected during power off.
e e
Discontinuity of absolute battery
wire
r r
Discontinuity or misconnection of
resolver signal line
t t
Circuit defect or malfunction
q q
Malfunction due external noise,
etc.
w w
Circuit defect or malfunction
q q
Motor wire is broken or connected
wrong.
w w
Parameter error
e e
Wrong power supply voltage
setting
r r
Insufficient power supply capacity
Action
Lower the operation duty on the
robot, or install a cooling fan.
Connect the regenerative unit.
Check the cables with a multimeter.
Check the voltage setting
(100V/200V).
If there is no problem with the usage,
the regenerative unit is probably
defective. Replace it.
If the error occurs frequently, then the
LSI is probably defective, so replace
the DRCX controller.
Check the motor wire connection.
Remove the obstacle or correct the
point data or origin position.
Apply 24V to the brake line and
check brake release.
Initialize the parameters.
Check the voltage setting
(100V/200V).
Check the power supply capacity
and increase if necessary.
Check the environment for noise.
If the error occurs frequently, then the
CPU is defective. Replace the DRCX
controller.
Replace the PB.
Charge the absolute battery.
Connect the absolute battery. (If using
the controller with the absolute
battery disconnected, set bit 4 of PRM
20 to "0".)
When the backup time becomes short
even after fully charging the battery,
this is probably the end of service life.
Replace the battery.
When this alarm does not disappear
even after fully charging the battery,
the battery is probably defective.
Replace the battery.
Limit the movement range during
power off.
Do not disconnect the absolute battery
when the position data is backed up.
Check the absolute line connection.
Check the resolver signal line
connection.
If the fault occurs frequently, replace
the controller.
Check the environment for noise.
If the fault occurs frequently, replace
the controller.
Check the motor wire connection.
Initialize the parameters.
Check the voltage setting
(100V/200V).
Check the power supply capacity. If
too low, use a power supply of larger
capacity.