Description
The axis servo deviation indicated in the axis data is too large. The axis moved with a deviation from the specified motion position and path exceeding the allowable range.
Subcode description
Sub Code: Signifies the axis in
which the alarm occurred
Causes and remedies
| Cause | Remedy |
|---|---|
| Software (incorrect setting) | Check the following settings. • Tool file settings • Weight of the tool and workpiece |
| Mechanism (external interference) | Check that the workpiece does not interfere with peripheral equipment. If there is interference, eliminate it. |
| Teaching (acceleration/deceleration too high) | Adjust acceleration and deceleration using the ACC and DEC instructions. The robot's acceleration and deceleration also depend on its posture at the start and end of the taught positions. Under the following conditions, the robot may accelerate or decelerate too quickly relative to the motor, causing this alarm. In this case, also adjust acceleration and deceleration at that taught position using the ACC and DEC instructions. 1. The robot posture at both the start and end of the taught positions does not apply gravity in the motor's rotational direction. 2. While the robot was moving at the above taught position, a category 1 emergency stop or HOLD stop interrupted the job. 3. The robot stops in a posture that applies greater gravity in the motor's rotational direction than at the start and end of the taught positions, and the job is restarted in that state. If this alarm occurs during use in a low-temperature environment (ambient temperature of 10 degrees C or below), perform a sufficient warm-up operation. |
| Cable (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, check that the following cables and connectors are connected and fully inserted. • Inverter board-CN573 through CN578 • Continuity of the motor power cable • Power supply cable • SDCA01 board-CN534, CN535, CN536 |
| SDCA01 board (abnormal) | 1. Check whether the brake voltage at the terminals listed below is 24V. Also check whether a contactor malfunction has caused the brake to lock. • SDCA01 board-CN540 • Motor brake terminals 2. If an abnormality is found, replace the SDCA01 board. |
| APU01 unit (abnormal) | 1. Check whether a contactor malfunction has caused the brake to lock. 2. If an abnormality is found, replace the APU01 unit. |
| Amplifier (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, replace the amplifier for the axis where the alarm occurred. |
| Motor (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, replace the motor for the axis where the alarm occurred. |
| SDCA01 board (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, replace the SDCA01 board. As a precaution, save CMOS.BIN before replacing the board. |
| Other | If the alarm occurs again after implementing the countermeasures, contact our service department and describe the circumstances when CMOS.BIN was saved (operating procedure, etc.). |