YASKAWA NX100 - Page 169

8.3 Alarm Message List
8-65
4311 ENCODER
BACK-UP
ERROR
--- • Encoder resetting (initialization)
not completed
• The position data in the encoder
was lost due to the voltage drop
of encoder backup battery.
• Reset the alarm, and then perform the
home positioning again. Confirm that the
encoder backup battery voltage is 2.8V or
more.
If the error occurs again, replace the encoder
(motor).
4312 ENCODER BAT-
TERY ERROR
--- Encoder backup battery voltage is
too low.
• The voltage of the encoder
backup battery is below 2.8V.
The position data may be lost.
Confirm that the encoder backup battery volt-
age is 2.8V or more. If not, replace the bat-
tery.
4313 SERIAL
ENCODER
OVER HEAT
--- The temperature of the encoder
exceeded 100 °C.
• Encoder thermistor failure
• Review the load condition and ambient
operating temperature.
• Confirm that the primary power supply volt-
age is 200V + 10%.
If the error occurs again, replace the servo
control circuit board or the motor.
4314 SERIAL
ENCODER
BATTERY
ERROR
--- Encoder backup battery voltage is
too low.
• The voltage of the encoder
backup battery is below 2.8V.
The position data may be lost.
Confirm that the encoder backup battery volt-
age is 2.8V or more. If not, replace the bat-
tery.
4315 COLLISION
DETECT
--- • 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.
• Reset the alarm, and then remove the
object or move the manipulator back to a
safe position.
If the alarm cannot be reset, invalidate the
collision detection level setting file or set the
detection level higher.
4316 PRESSURE
DATA LIMIT
--- The pressure set in the gun pres-
sure file or dry spotting pressure file
exceeded the maximum pressure
set in the gun condition file.
Reset the pressure value in the gun pressure
file or dry spotting pressure file below the
maximum pressure value.
4317 PRE-LOAD
ERROR
--- The motor does not operate in the
pre-load process.
Adjust the gun opening.
4318 SERIAL
ENCODER COR-
RECT LIMITA-
TION OVER
--- The speed feedback value of the
serial encoder exceeded the allow-
able limit.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
4320 OVER LOAD
(CONTINUE)
--- The motor torque continuously
exceeded the rated torque for a
certain period due to:
- Motor cable disconnection
- Incorrect motor type
- Motor failure
- Defective board
- External force applied to manipu-
lator, etc.
Check the motor, board, manipulator motion
(influence by external force), and taught ori-
entation.
4321 OVER LOAD
(INSTANT)
--- The torque a several times as much
as the rated torque has been
applied to the motor due to:
- Motor cable disconnection
- Incorrect motor type
- Motor failure
- Defective board
- External force applied to manipu-
lator, etc.
Check the motor, board, manipulator motion
(influence by external force), and taught ori-
entation.
4322 AMPLIFIER
OVER LOAD
(C
ONTINUE)
--- The current a several times as
much as the rated current has con-
tinuously flown in the amplifier for a
certain period.
• Check the wiring and connection for the
motor power line, board, cable disconnec-
tion, motor type, manipulator interferences,
SERVOPACK, and board, etc.
Replace if necessary.
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause Remedy