ERROR MESSAGE
~
CAUSES
~
RECOMMENDED CORREC-
TIVE MEASURES
506 SERVO ERROR 2
~
Too high speed in TEST-
1601-1612
~
position for axis 1(1601)
-
axis 12 (1612)
.
The speed protection is
tripped when the program-
ming unit is connected and
out and the key switch not
in position 100'%
.
Cause
:
A Chain fault related to
an emergency stop
.
B External interference on
the robot or the external
axes
.
C Low motor torque
.
D Incorrectly adjusted
external axes 7-12
.
506
SERVO ERROR
2
~
Resolver/tacho signal
1701-1707
~
differs for axis 1 (1701)
(Concerns only robots
~
- axis 7 (1707)
.
with tachometer)
.
~
Cause
:
Tachometer signal indicates
another speed than that
calculated from the resolver
signal
.
Error List
Jam error, external axes
.
B
C
5
:
2
0
A 1
. Select operation mode RUN and
run the axes away from the
obstacle
.
2
. Remove the obstacle or edit the
program
.
1
. Check that any brake is released
.
The motor for external axis
7 (1407)
-
12 (1412) runs slower
than 2 % despite the robot
~
B
computer commanding a
higher speed
.
Cause
:
~
2
. Check that a speed reference
A The axis has run
~
is received from the axis board
against an obstacle
.
~
If unrepairable, replace the axis
The axis receives no
~
board
.
torque
.
~
3
. Check the external controller,
Axis not correctly adjusted
~
driver, wiring and motor
.
C
. Increase the EP-value for the axis
.
The KP-values are defined in the
system parameters
.
506
SERVO ERROR
2
~
Resolver fault, supply
~
1
. Check for any fault by measuring
1500
~
resistance in wiring and resolver
.
(resolver-20ohm)
2
. Replace the serial measurement
board or the axis board
.
A Correct the primary fault
.
B Reduce the effect of external forces
C See '506, SERVO ERROR 21401-
1407", item C and D
.
D Check that the adjustment of the ex-
ternal axes does not cause any heavy
speed overshoots
.
1
.
If new tachometer has been
installed, check that positive
voltage is obtained if the axis is
turned in a positive direction
.
2
.
Check that the voltage reaches
the axis board
.
3
.
Replace the axis board
.
S3
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