IAI RoboNet, Руководство по эксплуатации

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Part 3 Maintenance
(2) Cold start level
Code Alarm name Cause/action
0A1 Parameter error Cause: The input range of data in the parameter area is not appropriate.
(Example) This alarm generates when the magnitude relationship of a pair of
input values is clearly inappropriate, such as when the values of
soft limit + and soft limit – were input wrongly as 200.3 mm and 300
mm, respectively.
Action: Change the input data to appropriate values.
0A8 Inapplicable
Motor and
Encoder Type
Cause: The motor type or encoder type that is set to the parameter is not applicable.
Action: If the same code appears even after a reboot of the power, contact our
company.
0B4 Electrical Angling
Mismatching
Cause: The position deviation counter is over-flown.
Action: Confirm about the load conditions, that the work does not interfere with any
object nearby or the brake has been released, etc.
Also, the counter overflow before the electrical angle determination (in the
Z-Phase Undetectable condition) can be considered. In such case, the motor
cable broken or encoder wire output error is supposed, so check the cable
connection.
0B7 Indeterminable
magnetic pole
(RACON only)
0B8 Excitation
detection error
(RPCON only)
This controller performs magnetic-pole phase detection (pole sensing) when the servo is
turned on for the first time after the power ON. This alarm indicates that the magnetic-pole
phase could not be recognized within the specified time.
Cause:
[1] Loose or disconnected motor-relay cable connector
[2] Brake cannot be released on an actuator equipped with brake.
[3] Large motor load due to application of external force
[4] Large slide resistance of the actuator itself
Action: [1] Check the wiring condition of the motor-relay cable.
[2] Check the wiring condition of the brake cable. Also, turn on/off the brake
release switch and check if the brake makes “click” sounds.
[3] Check for abnormality in the assembly condition of mechanical parts.
[4] If the load is normal, cut off the power and move the actuator by hand to
check the slide resistance.
If the actuator itself is suspected as the cause, please contact IAI.
0C8 Overcurrent
(RACON only)
Cause: The output current from the power-supply circuit became abnormally high.
This alarm should not generate in normal conditions of use. If it does,
deterioration of motor coil insulation is suspected.
Action: Measure the line resistances between motor connection wires U, V and W, and
the insulation resistance with respect to the ground, to check for deterioration of
insulation.
If you require the above measurements, please contact IAI.
0CA Overheat This alarm indicates that the temperature around the power transistor or regenerative
resistor in the controller is excessively high (95
°
C or above).
Cause: [1] The surrounding air temperature is high.
[2] The regenerative energy is excessive. (In the case of an actuator installed
vertically, the deceleration setting for downward movement is too high.)
[3] A faulty part inside the controller
Action: [1] Lower the surrounding air temperature of the controller.
[2] Review the settings and decrease the deceleration.
If [1] and [2] do not apply, please contact IAI.