Yamaha RCX240 User Manual page 573

17.6 : P.E.counter overflow
Code
Dedicated output : *2
Meaning/Cause
a. Robot drive section mechanically
locked.
b. Motor acceleration is excessive.
c. System generation setting is wrong.
d. Motor cable wiring is broken or wiring
is incorrect.
e. Electromagnetic brake for holding
vertical axis is defective.
f. Wiring is incorrect or disconnected on
electromagnetic brake for holding the
vertical axis.
g. SAFETY connector is not used correctly.
17.9 : Command error
Code
Dedicated output : *2
Meaning/Cause
Driver cannot identify commands from
CPU.
17.10 : Feedback error 1
Code
Dedicated output : *2
Meaning/Cause
Wiring of motor cable or ROB I/O cable is
incorrect.
17.11 : Feedback error 2
Code
Dedicated output : *2
Meaning/Cause
Motor cable is broken.
: &H1106
: &H1109
: &H110A
: &H110B
[17] Motor control errors
Action
1. Perform robot service and
maintenance.
2. Lower the motor acceleration.
3. Redo the system generation.
4. Wire the motor cable correctly.
5. Replace the motor cable.
6. Replace the magnetic brake for
holding the vertical axis.
7. Replace the ROB I/O cable.
8. Do not use DC 24V from SAFETY
connector as power source for
driving external loads.
Action
Check the versions of the CPU unit
and driver unit.
Action
1. Rewire the motor cable or ROB I/O
cable correctly.
2. Replace the motor cable or ROB I/O
cable.
Action
Replace the motor cable or encoder
cable.
TROUBLESHOOTING
A
A-51