Nachi RMU20-20, Instruction Manual

Page: 177 / 190

7.2Troubleshooting
7-9
Assist code
Error
Error code
Top: Controller
Bottom: RMU
SUB1 SUB2 SUB3
Description of trouble Remedy
16 1 Safety input 1
2 Safety input 2
4 Safety input 3
8 Safety input 4
16 Safety input 5
32 Safety input 6
64 Safety input 7
128 Safety input 8
32 1 Safety input 9
2 Safety input 10
4 Safety input 11
8 Safety input 12
16 Safety input 13
Over current
of input signal E1104
E06
48 1 Back check 1
2 Back check 2
4 Back check 3
8 Back check 4
This error occurs when an
over current has been
detected in one of the input
signals of the RMU.
When an over current in the
robot emergency stop has
been detected, the
emergency stop output is set
to OFF. When any other over
current has been detected,
the power supply output is
turned OFF.
Operation is
restored by
removing the
cause of the over
current error.
Controller power
must be turned off
and on.
Assist code
SUB1
Assist code
SUB2
Assist code
SUB3
Description
1 Safety input 1 Over current occured in the "Robot emergency stop signal".
2 Safety input 2 Over current occured in the "Enable switch signal".
4 Safety input 3 Over current occured in the "Slave error signal".
8 Safety input 4 Over current occured in the "Robot LS detection signal".
16 Safety input 5 Over current occured in the "Emergency stop signal".
32 Safety input 6 Over current occured in the "Safety plug signal".
64 Safety input 7 Over current occured in the "Protective stop signal".
16
128 Safety input 8 Over current occured in the "External enable signal".
1 Safety input 9 Over current occured in the "General input 1 signal".
2 Safety input 10 Over current occured in the "General input 2 signal".
4 Safety input 11 Over current occured in the "General input 3 signal".
8 Safety input 12 Over current occured in the "General input 4 signal".
32
16 Safety input 13 Over current occured in the "General input 5 signal".
1 Back check 1 Over current occured in the "Robot power supply back-check
signal".
2 Back check 2 Over current occured in the "General safety output 1 back check
signal".
4 Back check 3 Over current occured in the "General safety output 2 back check
signal".
48
8 Back check 4 Over current occured in the "General safety output 3 back check
signal".
(NOTE) When plural errors happen at the same time in ASSIST CODE SUB1, the ASSIST CODE SUB 2 value will become
the total number of each value.