Yamaha RCX40, User Manual

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9
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roubleshooting
1. Error Messages
17.21 : Bad origin sensor
Code : &H1115
Meaning/Cause : a. Origin sensor is defective.
b. Sensor cable is broken.
Action
: 1. Replace the origin sensor.
2. Replace the origin sensor 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 robot I/O cable.
17.23 : Torque limit
Code
: &H1117
Meaning/Cause : Torque exceeded the limit.
Action : Lower the acceleration.
17.24 : Cannot 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.
17.26 : Dual drive failed
Code : &H111A
Meaning/Cause : a. Driver unit is not specified as dual drive even though dual
drive was set in the system.
b. System generation was not set to dual drive even through the
driver unit is specified as dual drive.
Action : 1. Change the driver unit setting to dual drive.
2. Change the system generation setting to dual drive.
17.27 : ABS.backup failed (CPU)
Code : &H111B
Meaning/Cause : a. Reset was triggered in CPU due to noise, and position infor-
mation was lost.
b. Backup of position information failed when power was cut
off in the CPU unit.
Action : Perform absolute reset.
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