User`s manual

9-9
9
Troubleshooting
9. Troubleshooting
Alarm
No.
Alarm name Possible cause Checkpoint Action Reset
E31
PM (power
module)
error
Output terminal is
shorted.
A ground fault has
occurred.
Robot phase sequence
is incorrect.
Check the cable connection. Correct the cable
connection.
A
Sudden 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 if the count is correct
by viewing the present
position monitor (d-08).
If defective, contact us
for repair.
Power (inverter)
module is damaged.
Check the power module.
(Refer to Chapter 7,
"Maintenance and
Inspection".)
E39
Position
sensor error
Wire breakage or poor
connector mating of
position sensor cable.
Check the cable, connector,
shield wire, and ground
wire.
Correct the wire breakage
or connector mating.
A
Inadequate cable
shielding or ground
wire.
Strengthen the shielding
and grounding.
Position sensor cable
is routed along power
cable.
Isolate the position
sensor cable away from
the power cable.
Malfunction caused by
noise
Check if there is any noise
source nearby.
Isolate the noise source
away from the robot
driver.
Position sensor failure While moving the motor
shaft with servo turned off,
check if the Current position
counter (d-08) changes.
If the sensor is defective,
contact us for repair.
Position sensor was
not connected when
power was turned on.
Check whether the sensor
was connected before
power-on.
Turn on the power while
the position sensor is
connected.
E40
Mismatch
error
Robot driver output
does not match the
robot.
Check the position sensor
cable connection.
Connect the position
sensor cable correctly
and select a correct
robot and robot driver
combination.
A
Voltage levels of robot
and robot driver do not
match.
Position sensor
combination is wrong.
Check the parameters
(FA-81, FA-82).
Correct the parameter
settings.
Position sensor division
ratio is wrong.
Check the parameters
(FC-09, FC-10).
Correct the parameter
settings.
E80
Origin sensor
error
Origin sensor is not
operating correctly.
Check if the ORL terminal
is ON by viewing the Input
terminal monitor d-05.
• Turn on the ORL
terminal.
• Replace the origin
sensor.
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.