YASKAWA Motoman UP6, Instructions Manual

Page: 528 / 561

AL-4312 (ENCODER BATTERY ERROR)
An alarm
occurs.
Contact your Yaskawa
representative.
Replace the battery.
Alarm?
Yes No
Check the battery cable
(disconnection, etc.).
Alarm?
Yes No
Remove connectors CNPB123 and
CNPB456 of the WRCA01 circuit board
and re-insert them. (See Fig. 35.)
Alarm?
Yes No
CNPG456
CNPG123
Although an absolute encoder has a capacitor in the motor, the data
for accumulated rotation in the motor is lost if the control power
supply is turned OFF when the battery voltage is low.
Replace the battery immediately.
When the battery alarm occurs and the data for the accumulated
rotation is lost, perform zero-point positioning, paying attention to
the robot's working envelope before restarting the operation.
SERVOPACK
Fig. 35
AL-4313 (SERIAL ENCODER OVERHEAT)
An alarm
occurs.
Contact your Yaskawa
representative.
Turn OFF the control power supply and
wait until the encoder cools.
Alarm?
Yes
No
Replace the motor (encoder).
Alarm?
Yes No
Operate the encoder at 80
°
C or less.
Alarm?
Yes No
Continue normal operation.
The diconnected cable caused the alarm.
Continue normal operation.
A faulty connection caused the alarm.
Continue normal operation.
The battery being low caused the alarm.
Continue normal operation.
The overheated encoder caused the alarm.
Continue normal operation.
A defective encoder caused the alarm.
62