Yamaha CEmarking RCX221, User Manual

Page: 451 / 468

9-45
Chapter
9
TROUBLESHOOTING
17.31 : Servo off
Code : &H111F
Meaning/Cause : Movement command was attempted in servo OFF state.
Action : Change status to servo ON.
17.33 : Busy now
Code : &H1121
Meaning/Cause : a. Servo-Off command was attempted while the driver was
stopped.
b. Return-to-origin command was attempted before manual
movement was complete.
Action : 1. Turn off the power to the controller and then turn it back on.
2. Wait until the command has finished.
Dedicated output : *2
17.34 : Servo on failed
Code : &H1122
Meaning/Cause : a. Servo-ON was attempted for each axis while motor power
was off.
b. Servo-ON processing failed because the drive unit had been
stopped.
Action : 1. First turn on the motor power if servo-ON for each axis was
attempted.
2. Turn the power off and then on again.
17.35 : Axis weight over
Code : &H1123
Meaning/Cause : The weight (sum of work axis weight) on a particular
robot axis exceeded the maximum payload of that axis.
Action : 1. Redo the system generation.
2. Select the axis weight parameter to a correct value.
17.39 : Servo off failed
Code : &H1127
Meaning/Cause : Servo-OFF processing failed because the drive unit had been
stopped.
Action : Turn the power off and then on again.
Dedicated output : *2
17.40 : Torque mode now
Code : &H1128
Meaning/Cause : Manual movement attempted while in torque mode.
Action : Cancel the torque mode.
[17] Motor control errors