User`s manual

9-3
9
Troubleshooting
9. Troubleshooting
9.3 Troubleshooting
Corrective action for an alarm or error differs depending on whether the alarm or error
has tripped or not. Each case is explained below.
9.3.1 When an alarm or error has not tripped
Symptom Possible cause Checkpoint Action
Robot does
not move.
Rated voltage was not
applied to power supply
terminals L1, L2, and
L3, or L1C and L2C.
• Check the voltage with a tester.
• Check the earth leakage breaker
winding, electromagnetic contactor, etc.
Also check if any alarm has tripped.
Correct failure or miswiring
of the earth leakage breaker,
electromagnetic contactor, etc.,
or clear the tripped alarm.
Robot driver power
input section is
defective.
After checking the above, check if the
charge lamp lights up.
If the charge lamp does not light
up, the robot driver is defective.
Replace or repair the robot
driver.
Miswiring or poor
connection to robot
Check the phase sequence or contact
failure.
Correct the phase sequence or
misconnection.
SON terminal is not
ON. (Wrong polarity)
• Check if the SON terminal is ON, by
viewing the input terminal monitor d-05.
• Check the polarity setting.
• Turn on the SON terminal.
• Correct the polarity setting.
Torque limit is in effect.
(Wrong polarity)
• Check if the TL terminal is ON, by
viewing the input terminal monitor d-05.
• Check if the setting is correct.
• Turn off the TL terminal.
• Correct the polarity setting.
• Correct the torque limit setting.
FOT and ROT terminals
are not ON. (Wrong
polarity)
• Check if the FOT and ROT terminals
are ON, by viewing the input terminal
monitor d-05.
• Check the polarity setting.
• Turn on the FOT and ROT
terminals.
• Correct the polarity setting.
No pulse train
command was input
during position control
mode.
(Incorrect command
format setting or wrong
polarity)
• Check if the command is input, by
viewing the Position command monitor
d-07.
• Check if the setting is correct.
• Is the electronic gear ratio too low to
see any robot movement?
• Is the command position input pulse
train rate is too low?
• Input the pulse train command.
• Change the command format to
match the input pulse train.
• Set the electronic gear ratio
correctly.
• Increase the pulse rate.
PEN terminal is not ON
during position control
mode. (Wrong polarity)
• Check if the PEN terminal is ON, by
viewing the input terminal monitor d-05.
• Check if the setting is correct.
• Turn on the PEN terminal.
• Correct the polarity setting.
Robot is locked. (Brake
is activated.)
Check the lock. Release the shaft.
Servo was not turned
on immediately after
DB, before the robot
speed dropped below
0.5% of the rated
speed. (When using a
robot driver of 5kW or
more)
• Check if the servo was turned on
immediately after DB.
• Check if the robot speed was 0.5% or
less of the rated speed when the servo
was turned on.
Turn on the servo after the robot
speed becomes 0.5% or less of
the rated speed.
Robot driver failure
(Position sensor
failure)
• Make sure this is not due to the above
causes.
• Check the power module. (Refer to
Chapter 7, "Maintenance and
Inspection".)
If the robot driver is defective,
replace or repair it.