Yamaha RCX222, User Manual

Page: 500 / 524

9-48
Chapter
9
TROUBLESHOOTING
9-49
17.94 : ABS. battery low voltage
Code : &H115E
Meaning/Cause : Battery for retaining absolute data is low or not installed.
Action : 1. Replace battery.
2. Install battery.
Dedicated output : DO15 (Battery alarm output) turns on when absolute battery is low.
17.112 : Current limit error
Code : &H1170
Meaning/Cause : a. Robot drive section mechanically locked.
b. System generation setting is wrong.
c. Motor cable wiring is broken or wiring is incorrect.
d. Electromagnetic brake for holding vertical axis is defective.
e. Wiring is incorrect or disconnected on electromagnetic brake
for holding the vertical axis.
f. SAFETY connector is not used correctly.
Action : 1. Perform robot service and maintenance.
2. Redo the system generation.
3. Wire the motor cable correctly.
4. Replace the motor cable.
5. Replace the magnetic brake for holding the vertical axis.
6. Replace the ROB I/O cable.
7. Do not use 24V DC from SAFETY connector as power source
for external loads.
[19] YC-Link (SR1) related error
19.1 : OVER LOAD
Code : &H1301
Meaning/Cause : a. Motor current higher than rated current has flown due to
excessive load on motor.
b. Robot drive section mechanically locked.
c. Electromagnetic brake failure or wire breakage.
d. Robot number setting is incorrect.
Action : 1. Reduce the load on the motor. Correct the payload or
acceleration parameter.
Lower the operation duty on the robot.
2. Check the conditions of the movable parts.
Perform maintenance on the robot.
3. Replace the electromagnetic brake.
4. Set the correct robot number and initialize the parameters.
[19] YC-Link (SR1) related error