Yamaha RCX240 User Manual page 599

[26] Alarm messages (major errors) that occurred in electrical gripper
26.2 : Gripper Over current
Code
Meaning/Cause
The motor overcurrent occurred.
a. The motor cable was short-circuited.
b. The gripper control board was faulty.
c. The parameter was faulty.
26.3 : Gripper Machine reference over
Code
Meaning/Cause
The encoder Z-phase position deviated
from the initial value stored in the
controller.
a. The gripper main body was replaced.
b. The finger with the setting on the origin
close side was replaced.
c. The CPU board in the RCX240
controller was replaced.
d. The CPU software version for the
RCX240 controller was changed.
e. Struck an obstacle while returning to
the origin point.
f. The encoder Z-phase had faulty wiring
or malfunctioned.
g. The gripper drive section or
transmission section malfunctioned.
26.4 : Gripper Power supply voltage low
Code
Meaning/Cause
The DC power voltage dropped to 80% or
less of the rated value.
26.6 : Gripper P.E. Counter over
Code
Meaning/Cause
a. Mechanical lock occurred in the gripper
drive part.
b. The motor cable had faulty wiring or
incorrect wiring.
c. The parameter was faulty.
: &H1A02
: &H1A03
: &H1A04
: &H1A06
Action
1. Inspect the electric continuity of the
motor cable. If any fault is found,
replace the motor.
2. Replace the gripper control board.
3. Initialize the parameters.
Action
1. Perform the return-to-origin again.
2. Remove the obstacle and perform
the return-to-origin again.
3. Replace the gripper main body.
Action
Check the power capacity. If the power
capacity is insufficient, adjust the
power voltage to its correct range.
Action
1. Check the gripper drive part for
mechanical lock.
2. Check the motor and encoder cable
connections.
3. Initialize the parameters.
TROUBLESHOOTING
A
A-77