AL-4307 (SERVO ON DEFECTIVE SPEED)
An alarm
occurs.
Does the axis fall when
the servo is ON?
YesNo
Is it an axis with a brake?
NoYes
Turn the servo OFF when the
axis is in a position where the
axis does not fall when the
servo is ON.
Confirm that relay K13 of the XTU01
circuit board is not stuck or
disconnected. (See Fig. 32.)
Contact your Yaskawa
representative.
Remove connectors CNPG123 and
CNPG456 on the corresponding WRCA01
circuit board and re-insert them.
Alarm?
Yes No
Check the connector of the amplifier's
power line.
Alarm?
Yes No
Check the connector of the power
supply cable on the robot.
Alarm?
Yes No
K14
K15 K13
Alarm?
Yes No
Fig. 32
XIU01-
!!
XTU01
Continue normal operation.
Continue normal operation.
A faulty connection caused the alarm.
Continue normal operation.
The defective relay caused the alarm.
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