User`s manual

9-5
9
Troubleshooting
9. Troubleshooting
9.3.2 When an alarm or error has tripped
When an alarm or error has tripped, clear the alarm or error by inputting a reset signal
through the RS terminal and take corrective action as shown in the following table. Then
turn the servo on. (For clearing the tripped alarm, refer to the RS terminal description in
section 5.2, "Input terminal functions".)
Alarm
No.
Alarm name Possible cause Checkpoint Action Reset
E01 Overcurrent
• Output terminal is
shorted.
• Ground fault
• Incorrect motor phase
sequence
Check the cable connection. Correct the cable
connection.
ASudden motor lock Check the load. Adjust the brake timing to
avoid a lock.
• Power supply voltage
is low.
• Power supply
fluctuates.
Check the power supply
voltage. (Check the power
supply capacity.)
Correct the power supply
voltage, capacity, and
wiring.
Position sensor failure Check the count by viewing
the present position monitor
(d-08).
If defective, replace or
repair it. C
Power (inverter)
module is damaged.
Check the power module.
(Refer to Chapter 7,
"Maintenance and
Inspection".)
A
DB relay failure Disconnect the motor
cables from the robot driver
and check the resistance
between U, V and W, using
an ohmmeter or multimeter.
E05 Overload
Load is too heavy.
Check the load.
Reduce the load. B
Motor is locked. Adjust the brake timing to
avoid a lock.
C
Incorrect robot phase
sequence
Check the cable connection. Correct the cable
connection.
A
Robot's position sensor
failure
Check if the counter
correctly works, by viewing
the present position monitor
d-08.
If the sensor is defective,
replace or repair it.
C
E06
Braking
resistor
overload
Regenerative load is
too heavy.
Balance weight is so
large that continuous
regeneration is applied.
Check the regenerative
load.
• Reduce the load.
• Shorten the deceleration
time.
A
Insufficient
regenerative capacity
Review the regenerative
resistance.
Deceleration time is too
short.
Check if an alarm tripped
during deceleration.
Increase the deceleration
time.
B
Power supply voltage
is high.
Check the power supply
voltage.
Adjust the power supply
voltage correctly.
A
Regenerative braking
operating ratio is set to
a small value.
Check if the duty ratio
matches the regenerative
resistance.
Set a correct duty ratio.
B
Letters in the Reset column:
A: Shut off the power to the robot driver, perform troubleshooting, replace or repair defective parts.
B: After the robot stops, wait until the robot driver cools. Then short RS to P24, and perform troubleshooting.
C: After the robot stops, short RS to P24, and perform troubleshooting or shut off the power.