Motoman SK300X, Manual

Page: 501 / 553

10.3 Alarm Message List
10-23
1314 SERVO TRACKING
ERROR
Robot/Statio
[Axis Data] The servo deflection of the axis displayed by
axis data became excessive, the robot was
shifted from instructed motion position or
tracks more than tolerance and operated
• The wrong wiring, the breaking of the wire
of UVW wire for the motor
• The type of motor was not correct.
• The motor was moved by external power.
• It interfered with an outside equipment.
• Defective WRCA01, WRCF01 circuit board
• Defective amplifier
• Defective motor (encoder)
• Check whether the robot interferes with
the outside equipment. If the robot inter
feres, remove the cause.
• Check the connection of UVW wire of
motor again. And check the breaking of
the wire.
• There is a possibility the robot moves by
extra load. Check the motion status of
robot again and reduce the teaching
speed. Then confirm the reoccurrence.
<Error in robot axis>
Check that the type of motor is the same
as the one described in the manual. If
the type is not correct, replace it with the
correct motor.
<Error in external axis>
Check that the type of motor set by sys-
tem configuration is the same as the
actual installed one. If set data by sys-
tem configuration is correct, replace
installed motor with correct one. If set
data by system configuration is not cor
rect, set the correct system configura-
tion.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the amplifier, motor for axis
where the error occurred.
1315 POSITION ERROR
Robot/Statio
[Axis Data] The number of pulses generated by one
rotation of the motor was not a regulated
pulse numbers. There is a possibility the
position was shifted. (But, if this alarm
occurred simultaneously with the alar
related to the encoder, it was thought this
alarm accompanied the encoder alarm.)
• Noise of outside equipment
• Defective WRCA01, WRCF01 circuit board
• Down of the power supply voltage for the
encoder
• Defective motor (encoder)
• Check whether there is a equipment
generating loud noise.
• Check the ground of controller is correct.
• When the error occurred at external axis,
set the ferrite core on the encoder cable
for noise measure.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the motor for axis occurred the
error.
1316 BROKEN PG LINE
Robot/Statio
[Axis Data] The break of the signal wire from encode
(But, this alarm may accompany the posi-
tion error alarm, the alarm related to the
encoder.)
• Noise of outside equipment
• Defective WRCA01, WRCF01 circuit board
• Decrease of the power supply voltage for
the encoder
• Defective motor (encoder)
• Check the conduction of cable from the
WRCA01, WRCF circuit board to the
motor (encoder).
• Check whether there is equipment gen-
erating loud noise.
• Check the grounding of controller is cor-
rect.
• If the error occurs again, replace
WRCA01 and/or WRCF01 circuit board.
• Replace the motor for the axis where
the error occurred.
Alarm Message List
Alarm
Number
Message Cause Remedy