Yamaha SRCP TROUBLESHOOTING, 13-2-2Alarm message list

13-2 Alarm and Countermeasures

13

TROUBLESHOOTING

13-2-2 Alarm message list

Alarm No.	Alarm Message	Meaning	Possible Cause	Action
01	OVER LOAD	Excessive load	q Improper operation	q Lower the operation duty on the robot
		on motor		or reduce the acceleration parameter,
				or correct the payload parameter.
			w Motor failure	w If the motor armature resistance is too
				low, contact our sales office or
				representative.
			e Parameter error	e Initialize the parameters and check the
				robot type setting.
			r Wrong power supply voltage	r Check the power supply voltage.
			t Insufficient power supply capacity	t Check the power supply capacity. If
				too low, use a power supply of larger
				capacity.
			y Excessive friction in robot	y Check whether the robot moving parts
				work sluggishly. Refer to the robot
				user's manual for corrective action.
02	OVER	Motor drawing	q Motor wire shorted	q Check the motor wires for electrical
	CURRENT	too much current		continuity, and replace the motor
				assembly if abnormality is found.
			w Motor failure	w Replace the motor if internally
				shorted.
			e Controller failure	e If the motor terminals U and W , V
				and W or U and V are shorted, the
				output transistor is defective, so
				replace the SRCP controller.
			r Parameter error	r Initialize the parameters and check the
				robot type setting.
03	OVER HEAT	Transistor has	q Rise in ambient temperature	q Correct the ambient environmental
		heated to 90°C or	(above 40°C)	conditions.
		more.		(Install a cooling fan.)
			w Excessive load on motor	w Lower the operation duty on the
				robot.
			e Defective transistor	e If the controller is being used
				correctly, the transistor is probably
				defective, so replace the SRCP
				controller.
04	POWER	Power supply	q Insufficient power supply capacity	q Check the power supply capacity. If
	DOWN	voltage has		insufficient, use a power supply having
		dropped to less		larger capacity. (Power is consumed
		than 85% of rated		mostly during return-to-origin of
		value.		stroke end detection, robot start-up and
				acceleration/deceleration.)
			w Wrong power supply voltage	w Check the voltage specifications
			being used	indicated on the front panel of the
				controller.
05	BATT.LOW-	System backup	q Battery worn out.	qw Replace the battery. (If not
	VOLTAGE	battery voltage is	w Battery failure	possible to replace it immediately,
		low.		then temporarily set bit 3 of PRM
				34 to "1").
06	24V POWER	24V power is not	q 24V power supply is not	q Check the 24V power supply
	OFF	supplied.	connected to terminals No. 3 and	connection.
			No.4 of EXT. CN connector.
			w Fuse has blown due to short-	w Check for short-circuit using a multi-
			circuit or excessive current flow	meter or recheck the I/O connections.
			in the 24V circuit.
			e 24V power was supplied to	e 24V power must first be supplied to
			EXT.CN after supplying AC	EXT. CN before supplying power to
			power to the power terminal	the power terminal block.
			block.

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