Yamaha RCX222, User Manual

Page: 496 / 524

9-44
Chapter
9
TROUBLESHOOTING
9-45
17.21 : Bad origin sensor
Code : &H1115
Meaning/Cause : a. Origin sensor is defective.
b. Origin sensor wiring is broken.
Action : 1. Replace the origin sensor.
2. Replace the ROB I/O cable.
17.22 : Bad PZ
Code : &H1116
Meaning/Cause : a. Motor is defective.
b. Resolver signal wire is broken.
Action : 1. Replace the motor.
2. Replace the ROB I/O cable.
17.23 : Torque limit
Code : &H1117
Meaning/Cause : Torque exceeded the limit.
Action : Lower the acceleration.
17.24 : Can not reserve parameter
Code : &H1118
Meaning/Cause : Data for driver unit from the CPU unit was not received by
driver unit.
Action : 1. Turn the power off and then on again.
2. Replace the controller.
17.28 : Dual P.E. counter overflow
Code : &H111C
Meaning/Cause : On a dual-axis drive, the position differential between the
main axis and sub axis is too large.
a. Friction in the robot drive section is too large.
b. Motor brake wiring is broken.
Action : 1. Check the drive sections for assembled condition and
lubrication to ensure smooth movement.
2. Check that the motor brake works properly.
17.30 : Bad position
Code : &H111E
Meaning/Cause : Cannot perform positioning.
Action : 1. Turn the power off and then on again.
2. Replace the controller.
Dedicated output : *2
[17] Motor control errors