Ratoc Systems USB-Serial Converter REX-USB60F Manual de usuario Pagina 224
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Troubleshooting
9
9-2
9. Troubleshooting
9.2 Protective function list
The table below shows alarms and errors that might occur to protect the robot driver and robot.
No.
Alarm name
Alarm code
Description (cause of error)
1 Overcurrent E01 Motor current higher than the specified value
2 Overload E05 Overload current for longer than the specified time
3
Braking resistor
overload
E06
The duty ratio of internal regenerative braking resistor exceeded the
specified duty ratio (FA-08).
4
Main power
overvoltage
E07 Main circuit DC bus voltage exceeded the specified value.
5 Memory error E08
A check sum error occurred in the internal EEPROM of the robot driver due
to external noise or abnormal temperature rise.
6
Main power
undervoltage
E09
Main circuit DC bus voltage dropped below the specified value during
servo-on.
7 CT error E10
An abnormal offset value or out-of-range output value appeared in current
detection CT output during servo-off.
8 CPU error 1 E11 A CPU watchdog error occurred.
9 Ground fault E14
A motor output ground fault occurred when the servo was switched from OFF to ON.
10
Control power
undervoltage
E20
The servo was turned off due to the control power supply voltage dropping
below the specified value and the power then recovered before internal
reset.
11
Abnormal
temperature
E21 Power module temperature in the robot driver increased to abnormal levels.
12 CPU error 2 E22 A communication error with the CPU.
13 Overtravel error E25
Both FOT and ROT were simultaneously enabled for 1 second or more
during servo-on.
14
Power module
error
(Note 1)
E31
Overcurrent was detected by the power module, or power supply voltage
for the base circuit dropped.
15
Position sensor
signal error
E39
The following error was detected during constant monitoring.
RDX: An error was detected by the ERR signal for the R/D converter.
RDP: An error was detected by the wire breakage detection circuit signal
for the resolver.
Or, in the case of the RDP, an error occurred due to wire breakage detected
by the "position sensor wire breaking detection" function which works when
FA-90 (Hall sensor connection) is set to "oFF2".
16
Motor power
mismatch
E40
Motor output or supply voltage does not match the robot driver.
This error cannot be cleared from the RS (alarm reset) terminal.
17
Position error fault
E83
The difference between the position command value and the position
detection value is larger than the "Position error detection value" (FA-05).
18 Speed error fault E84
The difference between the speed command value and the speed detection
value is larger than the "Speed error detection value" (FA-04).
19 Overspeed error E85
Detection speed increased over the specified speed (maximum speed ×
FA-03).
20
Driving range error
E88 Position detection value was outside the specified range (Fb-16 to Fb-19).
21
Position
monitoring timeout
error
E89
Time required for the position error to enter positioning range after a position
command value reached a certain position exceeded the "Positioning
interval time limit" (Fb-24).
22
Magnetic pole
position estimation
erro
r
(Note 2)
E95 Magnetic pole position estimation failed.
23
Magnetic pole
position estimation
incomplete
(Note 2)
E96
When in FA-90=oFF, the servo was turned on without performing any
magnetic pole position estimation after power-on.
When in FA-90=oFF, the SON terminal was turned on with the RS terminal
turned on, in order to start mechanical system diagnosis or offline auto-
tuning.
24
Origin sensor error
E80
After starting return-to-origin with the "Homing mode" (FA-23) set to "S-F"
or "S-r" (sensor method) while the sensor (ORL terminal) was 0=ON, the
ORL terminal did not turn off even when the robot moved a distance of
50,000 pulses or more.
Note 1: To clear the tripped alarm, shut off the power.
Note 2: Displayed on RDP only.
- RD series 1
- General Contents 5
- 7.1.2 Daily inspection 7-2 8
- 7.1.3 Cleaning 7-2 8
- Chapter 1 Safety precautions 11
- 1.1 Precautions for use 13
- 1.2 Storage 14
- 1.3 Carrying 15
- 1.4 Installation 15
- 1.5 Wiring 16
- 1.6 Control and operation 17
- Safety precautions 18
- Before using the unit 21
- 2.1.1 Checking the product 21
- 2.1.2 User's manual 22
- 2.2.2 Warranty 23
- 3.1 Installation 29
- Installation and wiring 30
- 3.2 Wiring 32
- 3.2.2 Main circuit wiring 33
- (Collector) 50
- Chapter 4 Operation 57
- 4.1 Control and operation 59
- Operation 60
- 4.2 Test Run 61
- 4.3 Emergency stop 64
- Chapter 5 Functions 65
- 5.1 Terminal function list 67
- 5.2 Input terminal functions 69
- 5.7 Smoothing function 91
- Functions 100
- 5.11 Gain change function 101
- 5.13 Motor rotating direction 106
- 5.14 Speed limit function 107
- 5.16 Notch filter function 110
- No particular instructions 111
- Fd-01 (Fd-34) 113
- Contents 115
- Parameter description 119
- 6.2 Function lists 123
- 8000 to 7FFF 0 – No 126
- (Note 1) 128
- 6.3 Function description 130
- * Valid only for 139
- A-86 is relative to this 139
- (H/L) at return-to 140
- (Note 2) 144
- Maintenance and Inspection 207
- 7.1.2 Daily inspection 208
- 7.1.3 Cleaning 208
- 7.1.4 Periodic inspection 208
- 7.5 Capacitor life curve 212
- 8.1 Specification tables 215
- Specifi cations and Dimensions 216
- Chapter 9 Troubleshooting 221
- Troubleshooting 223
- 9.3 Troubleshooting 225
- Chapter 10 Appendix 235
- 10.1 Timing chart 237
- 10.2 Options 238
- Appendix 239
- Regenerate 249
- (Not provided 249
- 200W type) 249
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