13-
4
13
TROUBLESHOOTING
13-2 Alarm and Countermeasures
13-2-2 Alarm message list
Action
Lower the operation duty on the robot
or reduce the acceleration parameter,
or correct the payload parameter.
If the motor armature resistance is too
low or the motor movement is
sluggish when turned by hand, then
replace the motor assembly.
Initialize the parameters and check
the robot type setting.
Supply 24V to the brake wire to check
whether the brake is released.
Check the voltage setting
(100V/200V).
Check the power supply capacity. If
too low, use a power supply of larger
capacity.
Check whether the robot moving parts
work sluggishly. If sluggish, then
adjust the mechanical alignment.
Check the motor wires for electrical
continuity, and replace the motor
assembly if abnormality is found.
Replace the motor if internally
shorted.
If the resistance between motor
terminals U and V or V and W is less
than 1 kilo-ohms, the output transistor
is defective, so replace the DRCX
controller.
* The resistance between U and W is
about 24
Ω
, but this is a normal
value.
Initialize the parameters and check the
robot type setting.
Correct the ambient environmental
conditions.
(Install a cooling fan.)
Lower the operational duty on the
robot.
If the controller is being used
correctly, the transistor is probably
defective, so replace the DRCX
controller.
Check the power supply capacity. If
insufficient, use a power supply having
larger capacity. (Power is consumed
mostly during return-to-origin of
stroke end detection, robot start-up and
acceleration/deceleration.)
Check the voltage specifications
indicated on the front panel of the
controller.
Replace the battery. (If not
possible to replace the battery
immediately, then temporarily set
bit 3 of PRM20 to "1").
Check the 24V power supply.
Check for short-circuit using a multi-
meter or recheck the I/O connections.
Alarm No.
01
02
03
04
05
06
Alarm Message
OVER LOAD
OVER
CURRENT
OVER HEAT
POWER
DOWN
BATT.LOW-
VOLTAGE
24V POWER
OFF
Meaning
Excessive load
on motor
Motor drawing
too much current
Transistor has
heated to 90
°
C or
more.
Power supply
voltage has
dropped to less
than 85% of rated
value.
System backup
battery voltage is
low.
24V power is not
supplied.
Possible Cause
Improper operation
Motor failure
Parameter error
Electromagnetic brake failure or
wire broken
Wrong power supply voltage
setting
Insufficient power supply capacity
Excessive friction in robot
Motor wire shorted
Motor failure
Controller failure
Parameter error
Rise in ambient temperature
(above 40
°
C)
Excessive load on motor
Defective transistor
Insufficient power supply capacity
Wrong power supply voltage
being used
Battery worn out.
Battery failure
24V power supply is not
connected to A13 and B13 of the
I/O connector.
Fuse has blown due to short-
circuit or excessive current flow
in the 24V circuit.
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