IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 686 / 844

Chapter
11 T
roubleshooting
11.3 Error List
11-47
ME0392-4C
Error
No.
Error name Content and Cause / Countermeasure
O
per
at
io
n-
can
cel
lat
ion
48F
Singular point error
[Content & Cause]
1) Position data setting error
2) Position data setting error
3) Device (such as robot or workpiece) position error
4) Error on origin of axes constructing 6-axis cartesian robot (such as
wrest)
5) Position data setting error
[Countermeasure]
1) Check the position number in the step that the error occurred and set it
not to get close to the singularity in CP operation
2) Check the position number in the step that the error occurred and set it
not to be a position near the singularity
3) Check the relation of the device positions and adjust the positions to
avoid being a position near the singularity
4) Execute absolute reset
5) Check the position number in the step that the error occurred and set it
not to be at the singularity
490
Servo OFF during motion
[Content & Cause]
1) An operation command was executed while the servo is off
2) An axis with the servo off was attempted to be used
[Countermeasure]
1) An operation command was executed while the servo is off
2) An axis with the servo off was attempted to be used
491
Deviation overflow error
[Content & Cause]
1) Contact error at connector of actuator connection cable
2) Cable breakage on actuator connection cable
3) The brake cannot be released
4) An external force was applied to an actuator
5) The sliding resistance on an actuator is high
6) Malfunction of encoder
7) Malfunction of driver unit
[Countermeasure]
1), 2) Replace the actuator connection cable
3) Check condition of brake cable wiring, and then brake operation check
manually
4) Revise condition of assembly
5) If there is no problem with the payload, cut off the power and check
sliding resistance by hand
6) Replace the motor unit (encoder)
7) Replace driver unit
492
Overrun error
[Content & Cause]
1) Position data setting error
2) Sensor error
3) An actuator moved to the sensor detection area when home-return
operation incomplete
4) Noise
[Countermeasure]
1) Set up the position so the actuator would not violate
2) Replace the sensor