Omron R6YXC1000, User Manual, Page: 246 / 260

A
Troubleshooting
A-64
26.608 Gripper 24V power off
Code : &H001A &H0260
Meaning/Cause
a. The 24 V DC power supply is not wired.
b. The 24 V DC power supply is not being provided.
c. The 24 V DC power supply cable is disconnected.
Action
a. Check the wiring of the 24 V DC power supply.
b. Check the 24 V DC power supply.
c. Check the 24 V DC power supply cable.
26.612 Gripper over voltage
Code : &H001A &H0264
Meaning/Cause
The 24 V DC power supply voltage is greater than 130% of the rated value.
a. Power supply voltage increased due to regeneration
b. The DC24V power supply voltage is incorrect.
Action
a. Decrease the duty of the mechanism.
b. Check the 24 V DC power supply voltage and adjust it to be within the rated range.
26.801 Gripper over load
Code : &H001A &H0321
Meaning/Cause
Motor overload
a. Motor is defective.
b. Parameters are incorrect.
c. Power supply line capacity is insufficient.
d. Excessive friction within the mechanism itself.
Action
a. If there are problems such as excessively heavy motion when moving the motor manually,
replace the motor.
b. Initialize the parameters.
c. Check the power supply capacity, and if it is insufficient, adjust the power supply voltage to
be within the rated range.
d. Check the moving parts of the mechanism for heavy motion. If motion is excessively heavy,
make readjustments.
26.802 Gripper over current
Code : &H001A &H0322
Meaning/Cause
Motor over current
a. Motor wiring is shorted.
b. Gripper control board is defective.
c. Parameters are incorrect.
Action
a. Test the conductivity of the motor wiring, and if a fault is found, replace the motor.
b. Replace the gripper control board.
c. Initialize the parameters.
26.803 Gripper machine reference over
Code : &H001A &H0323
Meaning/Cause
The encoder Z-phase position deviated from the initial value stored in the controller.
• The gripper main body was replaced.
• A finger was replaced with the origin set to the close side.
• The CPU board of the controller was replaced.
• The CPU software version of the controller was changed.
• An obstacle was struck while returning to the origin point.
• The encoder Z-phase has broken or has malfunctioned.
• The gripper drive section or transmission section has malfunctioned.
Action
• Perform return-to-origin again.
• Remove the obstacle and perform return-to-origin again.
• Replace the gripper main body.