User`s manual

Troubleshooting
9
9-10
9. Troubleshooting
Alarm
No.
Alarm name Possible cause Checkpoint Action Reset
E83
Position
deviation
error
Pulse position
command rate is too
fast.
Check the position
command input rate.
Lower the pulse position
command rate.
C
Electronic gear setting
is incorrect.
Set the electronic gear
correctly (reduce the
ratio).
Control gain does not
match.
Check the setting. Adjust the control gain.
Speed or torque limiter
is too low.
Set (increase) the speed
or torque limiter correctly.
Position error detection
level setting is too
small.
Set (increase) the
position error detection
level correctly.
Malfunction caused by
noise
• Check if there is any noise
source nearby.
• Check the routing of the
cable, connectors, shield
wire, and ground wire.
• Isolate the noise source
away from the drive.
• Strengthen the shielding
and grounding.
• Isolate the position
sensor cable away from
the power cable.
A
Moment of load inertia
is too heavy.
Check relation of load to
position command rate.
Reduce the load.
E84
Speed
deviation
error
Speed command input
setting is incorrect.
Check the setting. Correct the input setting.
C
Control gain does not
match.
Adjust the control gain.
Torque limiter is too
low.
Correct (increase) the
torque limiter.
Speed error detection
level setting is too
small.
Correct (increase) the
speed error detection
value.
Malfunction caused by
noise
• Check if there is any noise
source nearby.
• Check the routing of the
cable, connectors, shield
wire, and ground wire.
• Isolate the noise source
away from the drive.
• Strengthen the shielding
and grounding.
• Isolate the position
sensor cable away from
the power cable.
A
Moment of load inertia
is too heavy.
Check relation of load to
position command rate.
Reduce the load.
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.