Yamaha CEmarking RCX221, User Manual

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9-2
Chapter
9
TROUBLESHOOTING
[Format]
Error No. : [<location where error occurred>,] error message
... Displays the error message on screen.
Code : ... Displays the error code in hexadecimal numbers.
Meaning/Cause : ... Displays the meaning and cause of the error.
Action : ... Displays a message explaining action needed to eliminate or
avoid error status.
Dedicated output : ... Refer to "(2) Dedicated output status".
* The beginning of the error message may sometimes include information on
the location (axis, option unit, etc.) where the error occurred. An "M" in this
information indicates the main group axis No., an "S" indicates the sub group axis
No., a "D" indicates the driver axis No., and an "OP" indicates the option unit slot
No.
For example, a message "2.1:M1, Soft limit over" indicates that the preset soft
limit values have been exceeded on axis 1 of the main group robot. Likewise, the
message, "17.4:D2, Overload" indicates that an overload has occurred in axis 2 of
the driver unit. The axes viewed by the robot and the axes viewed by the driver are
normally a one-to-one match with each other, but when dual-drive axes are used,
one axis viewed by the robot may sometimes be treated as 2 axes by the driver.
(2) Dedicated output status
Dedicated output status items described below in *1 to *3 show the following
contents.
*1 ... CPU stop
• Turn the power ON again to reset.
DO 01a (CPU OK) = OFF
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
*2 ... Driver stop
• Turn the power ON again to reset.
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
*3 ... Servo stop
• Turn the power ON again in "UTILITY" mode to reset.
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
c
CAUTION
When an error cannot be cancelled, contact your YAMAHA sales dealer.
1. Error Messages