User`s manual

6
Troubleshooting
6-5
Erroralarms(internalcauses)
■
No. Message Meaning Possible Cause Action
81 AC POWER DOWN
Drop in control power
supply voltage.
Power supply voltage too low.
Check the power supply.
Power supply does not have
sufficient capacity.
TS-SD failed. Replace the TS-SD.
82 ENCODER ERROR
Error occurred during
data exchange with
position detector.
Robot I/O cable is not securely
connected.
Connect the robot I/O
cable correctly.
Robot I/O cable failed.
Replace the robot I/O
cable.
Wrong combination of TS-SD and
robot.
Make a correct
combination of the
TS-SD and robot.
Position detector failed. Replace the motor.
Position detection circuit failed. Replace the TS-SD.
85 OVERHEAT
Temperature protection
level (90˚C) was
exceeded.
Ambient temperature is above 40˚C.
Check the ambient
condition.
Thermal sensor failed. Replace the TS-SD.
86 OVERLOAD
Overload detection level
was exceeded.
Rated current was exceeded.
Reduce the load.
Set the payload correctly.
Lower the duty cycle.
Robot drive system collided with
some objects.
Check the operation
pattern.
Electromagnetic brake is not working.
Replace the robot cable.
Replace the brake.
Wrong robot setting
Make correct robot
setting.
87 OVERVOLTAGE
Overvoltage protection
level (35V) was
exceeded.
Main power supply voltage exceeded
the specified range.
Check the power supply.
Replace the connection
cable.
88 LOW VOLTAGE
Power supply voltage
dropped below the low
voltage detection level
(15V).
Main power supply voltage does not
reach the specified value.
Check the power supply.
TS-SD failed. Replace the TS-SD.
89 POSITION ERROR
Position deviation
overflow level was
exceeded.
Robot drive unit collided with some
objects.
Check the operation
pattern.
Motor cable was disconnected.
Connect the motor cable
correctly.
Wrong robot setting
Make correct robot
setting.
8E OVERCURRENT
Current higher than the
allowable current flow
was detected.
Robot drive unit collided with some
objects.
Check the operation
pattern.
Motor cable was short-circuited. Replace the motor cable.
Motor failed. Replace the motor.
8F
MOTOR CURRENT
ERR.
Motor current does not
follow up on command.
Motor cable is disconnected.
Connect the motor cable
correctly.
Motor cable broke or failed. Replace the motor cable.
Motor failed. Replace the motor.
Wrong robot setting
Make correct robot
setting.
92 CPU ERROR
CPU stopped due to
error.
CPU failed.
Cancel the alarm.
If the alarm occurs again,
replace the TS-SD.
94
MOTOR LINE
DISCONNECTION
Motor line disconnection
was detected during
servo ON.
Motor cable is not securely
connected.
Connect the motor cable
correctly.
Motor cable broke or failed. Replace the motor cable.
Motor failed. Replace the motor.
TS-SD failed. Replace the TS-SD.