Yamaha RCX141, User Manual

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roubleshooting
1. Error Messages
17.6 : P.E.counter overflow
Code : &H1106
Meaning/Cause : a. Robot drive section mechanically locked.
b. Motor acceleration is excessive.
c. System generation setting is wrong.
d. Motor cable wiring is broken or wiring is incorrect.
e. Electromagnetic brake for holding vertical axis is defective.
f. Wiring is incorrect or disconnected on electromagnetic brake
for holding the vertical axis.
g. SAFETY connector is not used correctly.
Action : 1. Perform robot service and maintenance.
2. Lower the motor acceleration.
3. Redo the system generation.
4. Wire the motor cable correctly
5. Replace the motor cable.
6. Replace the magnetic brake for holding the vertical axis.
7. Replace the robot I/O cable.
8. Do not use DC 24V from SAFETY connector as power
source for driving external loads.
Dedicated output : *2
17.9 : Command error
Code
: &H1109
Meaning/Cause
: Driver cannot identify commands from CPU.
Action
: Check the versions of the CPU unit and driver unit.
Dedicated output
: *2
17.10 : Feedback error 1
Code
: &H110A
Meaning/Cause
: Wiring of motor cable or encoder cable is incorrect.
Action
: 1. Rewire the motor cable or encoder cable correctly.
2. Replace the motor cable or encoder cable.
Dedicated output
: *2
17.11 : Feedback error 2
Code : &H110B
Meaning/Cause : Motor cable or encoder cable is broken.
Action : Replace the motor cable or encoder cable.
Dedicated output : *2
17.16 : Over velocity 1
Code
: &H1110
Meaning/Cause
: Axis movement speed exceeded the limit during linear interpola-
tion, circular interpolation or manual orthogonal movement.
Action
: 1. Reduce the acceleration.
2. Reduce the speed.
Dedicated output
: *2