Alarm List
Alarm Number (4000 to 4999)
Alarm List-704
4328 SERVO TRACKING
ERROR
Sub Code: Signifies the axis
in which the alarm occurred
Setting error Check the following settings.
∙ The tools or the mass of the workpieces
Interference error Check if the manipulator interferes with any objects such as
workpieces or peripheral devices. If interferes, remove the object.
Acceleration limit over This alarm occurs when excessive load is applied to the motor upon
the satisfactions of all the following conditions;
∙ The acceleration/deceleration is automatically calculated by the
manipulator's position at start/end point
∙ The JOB is stopped by category 1 stop or HOLD stop
∙ Compared to the start/end point, excessive load is applied to the
motor according to the position
<Remedy>
Adjust the acceleration/deceleration by ACC and DEC for the teaching
position.
Also, make sure to run the machine enough before operation when this
alarm occurs at low temperature environment (ambient temperature:
10
℃ )
Connection failure (1Reset the alarm.
(2)If the alarm occurs again, check the connection and insertion of the
following cables and connectors.
∙ Amplifier-CN584
∙ EX1SV(External axis servo pack)-CN595
∙ Motor power wiring
∙ Power supply cable (Power cable)
YBK21 board failure (1)Check if the power has been supplied to the brake voltage of the
following terminal.
Check that the brake has not been locked due to malfunction of the
contactor.
∙ YBK21-CN400
∙ Motor brake terminal
(2) If any error is found, replace the YBK21 board.
YPU unit failure (1)Reset the alarm.
(2)If the alarm occurs again, replace the YPU unit. Save the
CMOS.BIN before replacing the board to be safe.
Alarm
Number
Alarm Name
Sub
Code
Meaning Cause Remedy
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