Description
A collision was detected because of the interference between the manipulator and a peripheral device. The external force applied to the robot exceeded the threshold.
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 information • Transformer selection plug socket • Collision detection level • Job • Workpiece • Job speed • Acceleration/deceleration for ACC and DEC • Power cable length • Power cable diameter |
| Mechanism (interference) | Eliminate the following interference. • Interference with the robot fixture • Interference with the workpiece fixture • If there is no interference with the robot or workpiece, set the collision detection level above the maximum disturbance force. It can be set up to 500%. |
| 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. • SDCA01 board-CN501, CN531, CN532, CN533, CN540, CN541 • Inverter board-CN571, CN573-579 • CPS01 unit-CN157 • SDB (external axis servo unit)-CN591, 594 • Continuity of the motor power cable |
| Cable (abnormal) | 1. Check that the U, V, and W phase wires of the motor power cable are not broken. 2. If a wire is broken, replace the motor power cable. |
| Cable (abnormal) | 1. Check that the motor brake cable has no broken wires. 2. If a wire is broken, replace the motor brake cable. |
| 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. |
| Amplifier (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, replace the amplifier. |
| Motor (abnormal) | 1. Reset the alarm. 2. If the alarm recurs, replace the motor. |
| Reducer (poor maintenance) | Measure the iron particle concentration in the reducer grease and perform maintenance. |
| Reducer (abnormal) | Replace the reducer or its grease. |
| 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.). |