User`s manual

Troubleshooting
9
9-12
9. Troubleshooting
Alarm
No.
Alarm name Possible cause Checkpoint Action Reset
E89
Position
monitoring
timeout error
Control gain,
Positioning detection
range (Fb-23), or wrong
positioning interval
time-limit setting
(Fb-24).
Check the setting. Adjust each setting.
C
Electronic gear setting
is wrong.
Correct the setting.
Robot is locked. Check the load. • Unlock the robot.
• Adjust the brake release
timing.
Load is larger than the
estimated level.
• Reduce the load.
• Increase the robot and
robot driver capacity.
A
Torque limiter is in
effect.
Check the TL terminal and
setting.
• Disconnect the TL
terminal.
• Change the setting.
C
E95
Magnetic
pole position
estimation
error
Related parameter
settings are incorrect.
Check the parameter
(FA-82, FA-85, FA-87,
Fd-00) settings.
Correct the parameter
settings.
A
Parameter settings for
magnetic pole position
estimation (Fb-40
through Fb-43) are
incorrect.
Torque during magnetic
pole position estimation is
small.
Adjust Fb-40 through
Fb-43 to make the
generated torque larger.
Torque during magnetic
pole position estimation is
limited.
Adjust Fb-40 through
Fb-43 to eliminate the
torque limit.
FOT and ROT terminals
turn off during
magnetic pole position
estimation.
Check the FOT and ROT
terminal conditions.
• Turn on the FOT and
ROT terminals.
• Change the FC-01
setting.
Rotor was moved by
external force during
magnetic pole position
estimation.
Check if external force is
applied.
• Remove the external
force.
Position sensor failure While rotating the motor
shaft, check if the display
on the present position
monitor d-08 changes
sequentially.
If the sensor is defective
(display does not
change), contact us for
repair.
SON terminal and the
FOT and ROT terminals
turn on at the same
time.
Check the input timing of
the FOT, ROT, and SON
terminals.
Turn on the SON terminal
10 [ms] or longer after the
FOT and ROT terminals
have turned on.
E96
Magnetic
pole position
estimation
incomplete
Any magnetic pole
position estimation
operation was not
performed after power-
on.
Check that the SRD
terminal is ON.
Perform magnetic pole
position estimation.
A
_ _Err
Auto-tuning
error
Operation was
performed in offline
auto-tuning mode.
Check if FA-10 is set to
"non".
Turn off the SON
terminal, turn the RS
terminal on and off, and
then check that FA-10 is
set to "non".
C
Moment of load inertia
exceeded 128 times.
Check the moment of load
inertia.
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.