Error handling: Display;
Error reset: Possible
Description: Although the command value has reached the target, the current value has not entered the set accuracy range after the specified time has elapsed. This error is detected by the AS software.
Main causes:
- Mechanical factors:
(1) The robot arm has contacted a fixture, or a cable has become caught on the robot arm.
(2) Excessive axis load due to damage to the reducer, bearings, etc.
(3) The backlash of the gear reduction components is too small.
(4) The motor brake is not released.
- Electrical factors:
(1) The U-phase, V-phase, or W-phase of the motor power cables has an open circuit. (No open-circuit check.)
(2) A problem with the servo amplifier unit.
(3) A problem with the power supply unit.
(4) An open circuit in the harness between the servo board (X503, X504, X505) and power supply control board (X304).
(5) An open circuit in the PN power wiring between the power supply unit (X352, X353) and servo amplifier unit.
(6) The encoder is faulty or the encoder harness has an open circuit.
- There is a problem with the taught data: During linear interpolation (path) motion, the command values are normally converted into individual axis command values after calculation to maintain the wrist posture in the XYZ coordinate system, and are then used for motion. However, even if the wrist OAT posture values at the robot motion start and end points are exactly the same, this error is reported if the wrist angles at the starting and ending steps do not match (for example, due to a JT6 reversal).
Countermeasures:
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For mechanical failures, change the taught content or the position of fixtures/external devices, replace components such as the reduction gear, or adjust the backlash.
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If electrical factors cause the error, check the harnesses, encoder, servo amplifier unit, power supply unit, etc. Replace them if necessary.
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If the error occurs at a specific program step, change the taught data.