Error handling: Motor power OFF.
Error reset: Possible.
Description: The CPU on the power supply unit control board (1VH) detected an error signal from the brake release MOSFET.
Robot
Motor
Main body
Controller
Motor brake wiring
DC24V-26V
Brake power supply>>
Safety circuit
Brake power supply error signal
Voltage detection
Brake release signal
CPU
MOSFET
Brake wiring error signal
Power supply unit control board
Servo board
Timing of brake wire error detection. The timing chart for detecting brake wire errors is shown below. Detection is not performed while motor power is OFF.
ON
Brake power supply
Start
Servo control
Release
Brake release
Short circuit detection
Open circuit detection
Whether the fault occurs before or after servo control distinguishes an open circuit from a short circuit. Open circuits are not detected during automatic operation.
Main causes:
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The motor brake circuit has a short circuit, open circuit, or ground fault (grounding).
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The power supply unit control board is faulty.
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Hold down the brake release switch and attempt to turn ON motor power and operate the robot.
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A problem with the servo board.
Countermeasures:
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Check the motor harness for open or short circuits.
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Check the motor harness for a wiring fault or open circuit.
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Replace the power supply unit control board or power supply unit.
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Do not press the brake release switch while operating the robot.
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Replace the servo board.