Yamaha SRCP manual 13-6

13-2 Alarm and Countermeasures

Alarm No.	Alarm Message	Meaning	Possible Cause	Action
16	ABNORMAL	Excessive voltage	q Rise in regenerative absorption	q Lower the operation duty on the
	VOLTAGE	(higher than	resistor temperature (above	robot, or install a cooling fan.
		420V) generated	120°C).
			w Wrong power supply voltage	w Check the power supply voltage.
17	SYSTEM	Controller's	q Internal LSI failure or	q If the error occurs frequently, then the
	FAULT 2	internal LSI error	malfunction	LSI is probably defective, so replace
				the SRCP controller.
18	FEEDBACK	Mechanical	q The robot slider struck on an	q Remove the obstacle or correct the
	ERROR 3	lockup	obstacle or mechanical damper.	point data or origin position.
			w Motor is miswired.	w Check the motor wire connection.
			e Mechanical lockup detection	e Adjust the mechanical lockup
			sensitivity is too high.	detection sensitivity (PRM31).
			r Parameter error	r Initialize the parameters.
19	SYSTEM	CPU error	q External noise or other factors	q Check the environment for noise.
	FAULT 3		have disrupted software program.
			w CPU failure or malfunction	w If the error occurs frequently, then the
				CPU is defective. Replace the SRCP
				controller.
20	Not used
21	Not used
22	VERSION	Wrong	q The PB used does not match the	q Replace the PB.
	MISMATCH	combination of	controller.
		PB and controller
23	Not used
24	Not used
25	Not used
26	FEEDBACK	Motor wire	q Motor wire is broken or connected	q Check the motor wire connection.
	ERROR 4	breakage or	wrong.
		misconnection	w Parameter error	w Initialize the parameters.
			e Wrong power supply voltage	e Check the power supply voltage.
			r Insufficient power supply capacity	r Check the power supply capacity. If
				too low, use a power supply of larger
				capacity.
27	POLE	Failed to detect	q Motor wire is broken or	q Check the motor wire connection.
	SEARCH	magnetic pole.	misconnected
	ERROR		w Position signal wire is	w Check the position signal wire
			misconnected.	connection.
			e Parameter error	e Initialize the parameters.

13

TROUBLESHOOTING

13-6