YASKAWA Motoman UP6 - Al-1325 (Communication Error (Encoder))

Alarm?
Yes
AL-1325 (COMMUNICATION ERROR (ENCODER))
An alarm
occurs.
Contact your Yaskawa
representative.
Was the motor replaced?
No
Check the encoder type.
(before and after the motor type is changed.)
Alarm?
Yes No
Check the connection of the power
supply cable between the controller
and the robot.
Alarm?
Yes No
Check the internal cable between the
connector on the back of the robot
and the motor.
Alarm?
Yes No
Take a corrective measure against
noise from the communications line.
Alarm?
Yes No
Does the alarm always
occur?
NoYes
Replace the motor (encoder).
Alarm?
Yes No
Continue normal operation.
Selection of the wrong encoder
caused the alarm.
Does the alarm occur at the
encoder of the servo gun axis?
YesNo
Check connectors CN2 and CN4 on
the XEI circuit board. (See Fig. 12.)
Yes No
The serial encoder type, 16-bit or 17-bit, is
selected according to the motor type:
A 16-bit encoder for the motor type SGM
!!
-A1A
A 17-bit encoder for SGM
!!
-A2A
A 12-bit absolute encoder for SGM
!!
-AW
Check connection of the connectors
CNPG123 and CNPG456 on the WRCA01
circuit board.
(The connection of CNPG123 and
CNPG456.)
Alarm?
Yes No
Remove the connectors CNPG of the
corresponding WRCA01 circuit board
and re-insert them. (See Fig. 11.)
Alarm?
Yes No
Fig. 12
XEI01
CN2 CN4
SERVOPACK
Fig. 11
CNPG456
CNPG123
Continue normal operation.
A faulty connection caused the alarm.
Continue normal operation.
The disconnected internal cable caused the alarm.
Continue normal operation.
A faulty connection caused the alarm.
Continue normal operation.
The defective encoder caused the alarm.
Continue normal operation.
The noise caused the alarm.
Continue normal operation.
The disconnected power supply cable caused the alarm.
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