ERROR MESSAGE
~
CAUSES
506 SERVO ERROR 2
~
Resolver error, channel y
.
1201
.1224
~
Fine resolver,
axis 1(1201)- 12(1212)
Coarse resolver,
axis 7(1219)- 12(1224)
506 SERVO ERROR 2
1301-1312
506 SERVO ERROR 2
~
Jam error, internal axes
1401-1412
The motor for axis 1 (1401)
-
7(1407) remains statio-
nary despite the robot
computer commanding
current to the motor
.
Cause
.
A- The robot has run
against an obstacle
.
B
. Overload
.
C
. The motor receives
current but is in-
correctly commutated
.
D
.The motor does not
receive current
.
E
. Resolver fault
.
F
. Motor fault
.
G
.Mechanical fault
.
Error List
Speed error
.
The motor for axis 1(1301)-
12 (1312) runs considerably
faster than is commanded
from the control system
.
Cause, internal axes
:
A Considerable interference
between the axes at
high speeds results in
incorrect speed at certain
points in the user's
program-
•
~
Incorrectly commutated
motor
C Axis stops
(
the motor
receives no current)
D Incorrect acceleration of
the motor
.
Cause, external axes
:
•
~
See point A above
.
F Incorrect acceleration of the
2
. Replace robot computer or external
motor
.
~
axis board
.
5
:
1
9
RECOMMENDED CORREC-
TIVE MEASURES
See error type 1101 -
1124
A Lower the programmed speed locally
in the program where the error occurs
and/or change the positioning pattern
so that the axis which trips because
of the incorrect speed is not so active
in this part of the program
.
•
~
Check that the correct commutator
offset is entered for the axis
. If the
axis has been repaired, remeasured
and enter a new offset
C 1
. Check all fuses
.
2
. Check the motor current using the
test outlets
. Check the wiring, the
drive unit and the robot computer
board
.
D Replace the robot computer or drive
unit
.
F 1
. Check external controller, drive
stage and external wiring
.
A 1 Select operation mode RUN and
run away from the obstacle
.
2
. Remove the obstacle or edit the
program
.
B
.
Check that the load and its lever
arm do not exceed the specified
maximum limits
.
C
. Check that the correct commu-
tator offset is entered for the
axis . If the axis has been repaired
measure and enter the correct
offset
.
•
~
1
. Check all fuses
.
2
. Check the wiring, the drive unit
and the robot computer board
.
E
. Turn the axis with the system in
the STAND BY mode and check if
resolver fault is indicated
.
•
~
Measure motor data
.
•
~
Check, with the system in the
STANDBY mode that axis movement
is free in its complete working range
.
S3
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