A12

Alarm code A12 indicates .

Cause analysis:

1. Inappropriate drive parameters, such as PID parameters, cause abnormal motor operation;

2. Incorrect motor phase;

3. Damaged power or encoder cable;

4. Motor damage;

5. Drive damage;

Remedy:

1. Set appropriate PID parameters to avoid motor vibration or abnormal noise caused by excessive gain

2. Check the direct connection cable between the electrical cabinet and robot body, and the power and encoder cables within the body, to prevent wear that causes power cable or encoder signal short circuits and abnormal operation;

3. If A12 is reported immediately upon power-on, the drive is likely damaged (the drive power output connector can be removed for further verification);

4. Remove the power connector on the drive side and measure the impedances between UV, UW and VW at the connector. If the impedance values differ greatly, a problem with the power cable or motor can be confirmed;

5. Check whether the impedance of the three-phase windings is normal at the motor power socket. If the impedance values of UV, UW, and VW differ greatly, or any of the U, V, and W phases is shorted to the ground in that socket, the motor has a problem;

6. If no alarm occurs at power-on but an alarm occurs as soon as operation is initiated, excessive load may be causing overcurrent. Remove the motor and control it independently to see whether it can operate normally, or check the cables. If movement is jerky or not smooth, adjust the PID appropriately. If this still does not work, try encoder phase alignment operation Fn012;

7. If the specific cause cannot be identified directly, swap drives and connecting cables, then use the resulting alarms to determine whether the problem is with the drive, motor or cable.