13-
6
13
TROUBLESHOOTING
13-2 Alarm and Countermeasures
Action
Lower the operation duty on the
robot, or install a cooling fan.
Connect the regenerative unit.
Check the cables with a multimeter.
Check the voltage setting
(100V/200V).
If there is no problem with the usage,
the regenerative unit is probably
defective. Replace it.
If the error occurs frequently, then the
LSI is probably defective, so replace
the DRCX controller.
Check the motor wire connection.
Remove the obstacle or correct the
point data or origin position.
Apply 24V to the brake line and
check brake release.
Initialize the parameters.
Check the voltage setting
(100V/200V).
Check the power supply capacity
and increase if necessary.
Check the environment for noise.
If the error occurs frequently, then the
CPU is defective. Replace the DRCX
controller.
Replace the PB.
Charge the absolute battery.
Connect the absolute battery. (If using
the controller with the absolute
battery disconnected, set bit 4 of PRM
20 to "0".)
When the backup time becomes short
even after fully charging the battery,
this is probably the end of service life.
Replace the battery.
When this alarm does not disappear
even after fully charging the battery,
the battery is probably defective.
Replace the battery.
Limit the movement range during
power off.
Do not disconnect the absolute battery
when the position data is backed up.
Check the absolute line connection.
Check the resolver signal line
connection.
If the fault occurs frequently, replace
the controller.
Check the environment for noise.
If the fault occurs frequently, replace
the controller.
Check the motor wire connection.
Initialize the parameters.
Check the voltage setting
(100V/200V).
Check the power supply capacity. If
too low, use a power supply of larger
capacity.
Alarm No.
16
17
18
19
20
21
22
23
24
25
26
Alarm Message
ABNORMAL
VOLTAGE
SYSTEM
FAULT 2
FEEDBACK
ERROR 3
SYSTEM
FAULT 3
Not used
Not used
VERSION
MISMATCH
ABS.BAT.L-
VOLTAGE
ABS.DATA
ERROR
ABS.DATA
ERROR 2
FEEDBACK
ERROR 4
Meaning
Excessive voltage
(higher than
420V) generated
Controller's
internal LSI error
Motor cable is
disconnected,
improperly wired
or overload
CPU error
Wrong
combination of
PB and controller
The absolute
battery voltage is
low.
Absolute data
error was
detected.
Abnormal reset
Motor wire
breakage or
misconnection
Possible Cause
Rise in regenerative absorption
resistor temperature above
120
°
C).
No regenerative unit is connected.
Defective regenerative unit cables
Incorrect power supply voltage
Regenerative unit defect
Internal LSI failure or
malfunction
Motor wire is broken or
misconnected.
The robot slider struck on an
obstacle or mechanical damper.
Defective or disconnected
electromagnetic brake
Parameter error
Wrong power supply voltage
setting
Insufficient power supply capacity
Drop in voltage at stopper origin
External noise or other factors
have disrupted software program.
CPU failure or malfunction
The PB used does not match the
controller.
The absolute battery voltage is
low.
The absolute battery is not
connected.
End of the absolute battery service
life.
The absolute battery is defective.
Movement amount has exceeded
the limit (approx.
±
4000 turns)
that can be retained during power
off.
The absolute battery was
disconnected during power off.
Discontinuity of absolute battery
wire
Discontinuity or misconnection of
resolver signal line
Circuit defect or malfunction
Malfunction due external noise,
etc.
Circuit defect or malfunction
Motor wire is broken or connected
wrong.
Parameter error
Wrong power supply voltage
setting
Insufficient power supply capacity
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