IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 699 / 844

Chapter
11 T
roubleshooting
11.3 Error List
11-59
ME0392-4C
Error
No.
Error name Content and Cause / Countermeasure
Co
ld
-st
art
619
Motor drive control error
[Content & Cause]
1) Contact error at connector of actuator connection cable
2) Cable breakage on actuator connection cable
3) Malfunction of driver unit
4) Motor power supply voltage drop
[Countermeasure]
1) Check actuator connection cable connection status and connect again
2) Replace the actuator connection cable
3) Replace driver unit
4) Check the voltage on the motor power supply
61A
Driver overload error
[Content & Cause]
1) The input power to the motor has exceeded the upper limit
2) The sliding resistance on an actuator is high
[Countermeasure]
1) Revise the following items;
• Velocity setting
• Acceleration/deceleration setting
• Payload
2) If there is no problem with the payload, cut off the power and check
sliding resistance by hand
61B
Excitation detection error
[Content & Cause]
1) Contact error at connector of actuator connection cable
2) Cable breakage on actuator connection cable
3) An external force was applied to an actuator
4) The sliding resistance on an actuator is high
5) The brake cannot be released
6) Malfunction of motor / encoder
7) Malfunction of driver unit
[Countermeasure]
1) Check actuator connection cable connection status and connect again
2) Replace the actuator connection cable
3) Revise condition of assembly
4) If there is no problem with the payload, cut off the power and check
sliding resistance by hand
5) Check condition of brake cable wiring, and then brake operation check
manually
6) Replace the motor unit
7) Replace driver unit
61C
Driver unit overcurrent
error
[Content & Cause]
1) Malfunction of motor
2) Malfunction of driver unit
[Countermeasure]
1) Replace the motor unit
2) Replace driver unit
11.3 Error List
ME0392-4C
11-60
Error
No.
Error name Content and Cause / Countermeasure
Co
ld
-st
art
61D
Driver unit current sensor
error
[Content & Cause]
1) An external force was applied to an actuator
2) The sliding resistance on an actuator is high
3) The brake cannot be released
4) Malfunction of driver unit
[Countermeasure]
1) Revise condition of assembly
2) If there is no problem with the payload, cut off the power and check
sliding resistance by hand
3) Check condition of brake cable wiring, and then brake operation check
manually
4) Replace driver unit
61E
Driver unit drive power
error
[Content & Cause]
1) Malfunction of motor
2) Malfunction of driver unit
[Countermeasure]
1) Replace the motor unit
2) Replace driver unit
61F
Verification error during
driver unit non-volatile
memory writing
[Content & Cause]
1) Noise
2) Malfunction of driver unit
[Countermeasure]
1) Take a countermeasure to noise
2) Replace driver unit
620
Driver unit related error
[Content & Cause]
1) An external force was applied to an actuator
2) The sliding resistance on an actuator is high
3) The brake cannot be released
4) Malfunction of driver unit
5) Noise
6) Controller HW is not applicable for the set actuator (motor)
[Countermeasure]
1) Revise condition of assembly
3) If there is no problem with the payload, cut off the power and check
sliding resistance by hand
3) Check condition of brake cable wiring, and then brake operation check
manually
4) Replace driver unit
5) Take a countermeasure to noise
6) Contact IAI in case it occurs again
621
Slave unit communication
error
[Content & Cause]
1) A coupling connector or a SCON connection connector is not properly
joined
2) There is a line breakage on an internal signal line or an SCON
connection cable
3) There is no terminal unit or terminal connector (for SCON) installed
4) Noise
[Countermeasure]
1), 2) Check that each unit is joined with another firmly
Disconnect the link among the units once and connect them again
3) Attach a terminal unit or terminal connector
4) Take a counteraction to noise