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YASNAC XRC
TROUBLESHOOTING
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-___ INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATORS MANUAL
YASNAC XRC OPERATORS MANUAL for BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANDATORY
This manual explains the troubleshooting of the YASNAC XRC system.
Read this manual carefully and be sure to understand its contents
before handling the YASNAC XRC.
General items related to safety are listed in Section 1: Safety of the
Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.
CAUTION
Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your products warranty.
WARNING
CAUTION
MANDATORY heading.
PROHIBITED
Even items described as CAUTION may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as CAUTION and WARNING.
WARNING
Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or programming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.
Observe the following precautions when performing teaching operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
Confirm that no persons are present in the manipulators work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
CAUTION
Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulators work area, on
the floor, or near fixtures.
Read and understand the Explanation of the Alarm Display in the setup
manual before operating the manipulator.
Manual Designation
XRC
Playback Panel
Programming Pendant
Table of Contents
Alarm/Error Code
Page
Alarm/Error Code
AL-1325
AL-1326
AL-1327
AL-1328
AL-1329
AL-1330
AL-1331
AL-1332
AL-4100
AL-4301
AL-4302
AL-4303
AL-4304
AL-4305
AL-4306
AL-4307
AL-4309
AL-4310
AL-4311
AL-4312
AL-4313
AL-4314
Page
Alarm/Error Codes
Scope
This manual lists troubleshooting procedures for specific XRC alarm/error codes. It
is intended to help you understand and rectify the alarm/error codes you may
encounter while using the Motoman XRC controller.
Customer Service
If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200.
An alarm occurs.
Turn the power OFF and then ON.
No
Alarm?
Yes
Remove the corresponding
CPU board and remount it.
Yes
Remove the XCP01 circuit board and remount it.
No
Alarm?
No
Alarm?
Yes
Yes
Alarm?
No
Alarm?
No
Yes
Yes
Contact your Yaskawa
representative.
Alarm?
No
Continue normal operation.
The defective XBB01 circuit
board caused the alarm.
An alarm occurs.
Turn the power OFF and then ON.
No
Yes
Alarm?
Yes
Alarm?
No
No
Continue normal operation.
Yes
Alarm?
Yes
Alarm?
No
Alarm?
No
Yes
Yes
Alarm?
No
No
Yes
Alarm?
No
Alarm?
Yes
An alarm occurs.
Turn the power OFF and then ON.
No
Alarm?
Yes
Remove the corresponding RAM board and
remount it.
Yes
Replace the board.
No
Continue normal operation.
The defective RAM board
caused the alarm.
Alarm?
Alarm?
No
Continue normal operation.
Yes
Contact your Yaskawa representative.
10
An alarm occurs.
Turn the power OFF and then ON.
No
Alarm?
Yes
Remove the corresponding RAM board and
remount it.
Yes
Replace the board.
No
Continue normal operation.
The defective RAM board
caused the alarm.
Alarm?
Alarm?
No
Continue normal operation.
Yes
Contact your Yaskawa representative.
11
No
Alarm?
Yes
Check the cable connected to the
corresponding I/O Module.
Yes
Alarm?
No
Alarm?
Yes
Yes
No
No
Alarm?
Alarm?
No
Continue normal operation.
Yes
Contact your Yaskawa representative.
12
No
Alarm?
Yes
Yes
Alarm?
Yes
Alarm?
No
No
Continue normal operation.
The destructured parameter
file caused the alarm.
No
Alarm?
Yes
Contact your Yaskawa representative.
13
An alarm occurs.
Initialize the job file.
No
Yes
Alarm?
Yes
Alarm?
No
Continue normal operation.
The defective XCP01 circuit
board caused the alarm.
No
Continue normal operation.
The destructured CIO ladder
data caused the alarm.
Alarm?
Yes
Replace the XCP01 circuit board.
Yes
14
Alarm?
No
Continue normal operation.
The defective XCP01 circuit
board caused the alarm.
No
Alarm?
Yes
Replace the XCP01 circuit board.
No
Alarm?
Yes
Contact your Yaskawa representative.
An alarm occurs.
Check the memory capacity of the expansion CMOS board.
No
Continue normal operation.
Selection of the wrong CMOS
board caused the alarm.
Yes
Alarm?
No
15
Alarm?
Yes
Contact your Yaskawa
representative.
No
Yes
Alarm?
Yes
Alarm?
No
Continue normal operation.
Yes
Alarm?
No
Continue normal operation.
The destructured parameter
file caused the alarm.
Alarm?
Yes
Contact your Yaskawa representative.
16
No
Alarm?
Yes
Replace the corresponding
sensor board.
No
Alarm?
Yes
Reset the option board.
Yes
Alarm?
No
No
Continue normal operation.
Alarm?
Yes
Replace the coresponding board.
Yes
Contact your Yaskawa representative.
17
Alarm?
No
Continue normal operation.
The defective board caused the alarm.
No
Alarm?
Yes
No
Continue normal operation.
Alarm?
Yes
Contact your Yaskawa representative.
18
No
Alarm?
Yes
Check the connection of
the corresponding board.
(See the table below.)
Yes
Replace the board.
Yes
Alarm?
AL090
1
AL090
2
AL090
3
AL0904
AL090
5
XCP02 (#1-0)
circuit board
XCP02 (#1-1)
circuit board
XCP02 (#1-2)
circuit board
XCP02 (#2-0)
circuit board
XCP02 (#2-1)
circuit board
No
Continue normal operation.
The defective board caused the alarm.
No
Alarm?
AL090
6
AL094
0
AL094
1
AL094
2
AL094
3
AL094
4
XCP02 (#2-2)
circuit board
WRCA01 #1
circuit board
WRCA01 #2
circuit board
WRCA01 #3
circuit board
WRCA01 #4
circuit board
WRCA01 #5
circuit board
19
AL0945
WRCA01 #6
circuit board
No
Alarm?
Yes
Check the connection of
the corresponding board.
(See the table below.)
Yes
Replace the board.
Yes
Alarm?
AL095
AL0910 XCP01 circuit board
0
XCP02
#1
AL095
AL091
circuit board
1
1
AL091
AL095
XCP02 #2
2
2
circuit board
No
Alarm?
No
Continue normal operation.
The defective board caused the alarm.
WRCA01 #1
circuit board
WRCA01 #2
circuit board
WRCA01 #3
circuit board
20
AL0953
AL0954
AL0955
WRCA01 #4
circuit board
WRCA01 #5
circuit board
WRCA01 #6
circuit board
No
Alarm?
Yes
Check the connection of
the corresponding board.
(See the table below.)
Yes
Alarm?
Yes
Alarm?
No
Continue normal operation.
No
Continue normal operation.
The defective board caused the alarm.
21
No
Alarm?
Yes
Check the connection of
the corresponding board.
(See the table below.)
Yes
Replace the board.
Yes
Alarm?
No
Alarm?
No
Continue normal operation.
The defective board caused the alarm.
AL096
AL0930 XCP01 circuit board
0
XCP02
#1
AL093
AL096
circuit board
1
1
XCP02 #2
AL093
AL096
circuit board
2
2
AL0963
AL0964
AL0965
WRCA01 #4
circuit board
WRCA01 #5
circuit board
WRCA01 #6
circuit board
No
Continue normal operation.
Alarm?
Yes
Check the connections of all the boards.
Yes
Contact your Yaskawa representative.
22
Alarm?
No
Continue normal operation.
Power
supply unit
An alarm
occurs.
Yes
SERVOPACK
No
Continue normal
operation.
Yes
WRCA01
No
RCP01AAA
Remove connector CN05 on the
XCP01 circuit board and re-insert it.
Alarm?
Yes
Continue normal
operation.
No
Continue normal
operation.
Yes
Yes
No
Yes
Continue normal
operation.
No
No
Yes
Yes
Continue normal
operation.
Yes
No
Continue normal
operation.
Alarm?
No
Blown out
Yes
No
Continue normal
operation.
23
An alarm
occurs.
Yes
No
Continue normal
operation.
Yes
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Yes
No
Continue normal
operation.
Yes
Alarm?
No
24
Yes
No
Yes
Continue normal
operation.
No
Replace the WRCA01 circuit board.
Yes
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Yes
No
No
Yes
No
Yes
Yes
No
No
Yes
Continue normal
operation.
Yes
Yes
No
25
Alarm?
No
Yes
No
Yes
Yes
Yes
Contact your Yaskawa
representative.
Alarm?
No
No
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
26
Continue normal
operation.
An alarm
occurs.
Yes
No
Continue normal
operation.
Yes
No
Yes
Continue normal
operation.
No
Continue normal
operation.
Yes
Yes
No
Yes
Continue normal
operation.
No
Continue normal
operation.
Yes
Replace the WRCA01 circuit board .
Yes
Alarm?
No
No
Yes
Continue normal
operation.
Blown out
Yes
Alarm?
No
Yes
No
Continue normal
operation.
27
Yes
No
Continue normal
operation.
Remove connector CN20 on the
WRCA01 circuit board and re-insert it.
Alarm?
Yes
No
Yes
No
Continue normal operation.
Yes
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Yes
Alarm?
No
Yes
No
28
Yes
Yes
No
No
Yes
Alarm?
No
Yes
No
Yes
Alarm?
No
Yes
29
Alarm?
No
An alarm
occurs.
SERVOPACK
No
Yes
Yes
CNPB1 CNPB2 CNPB3
Fig. 1
Yes
No
Alarm?
No
Continue normal operation.
Selection of the wrong
amplifier caused the alarm.
Yes
Alarm?
No
No
Yes
Alarm?
30
An alarm
occurs.
Yes
SERVOPACK
Check the type of encoder. (Check before
and after the motor type is changed.)
Alarm?
CNPG456
Yes
No
CNPG123
Fig. 2
Yes
No
Yes
Alarm?
No
31
An alarm
occurs.
Yes
No
Is something making
noise?
No
Yes
Remove the source of the
noise.
Alarm?
Continue normal
operation.
Yes
No
No
Correct the wiring.
Yes
Alarm?
Continue normal
operation.
No
Yes
Does the alarm occur when the
robot is at a specific position?
No
Yes
Was "MOVJ" the move
instruction at the position?
No
Yes
No
Yes
No
Yes
Yes
No
Continue normal operation.
The defective motor caused the alarm.
32
Yes
Alarm?
No
An alarm
occurs.
No
Yes
No
Yes
Remove the source of the
noise.
Alarm?
Continue normal
operation.
Yes
No
No
Correct the wiring.
Yes
Alarm?
Continue normal
operation.
No
Yes
Does the alarm occur when the
robot is at a specific position?
No
Yes
Does the alarm occur
when the gun is open?
No
Yes
Yes
Yes
No
Continue normal operation.
The defective WACF01 circuit board caused the alarm.
Yes
Alarm?
No
33
No
Yes
Yes
Decrease the weight of the tool or
load.
Alarm?
Yes
Decrease the weight of the tool or
load.
Alarm?
Yes
No
No
Yes
No
Yes
No
Does 90 V flow between the insidepanel brake terminals BA and BB?
Yes
No
Continue normal
operation.
No
Replace the XIU01 unit.
Alarm?
Yes
Yes
Alarm?
No
No
Continue normal
operation.
Yes
Alarm?
No
Check the conductivity of the
internal lead brake wires.
Continue normal
operation.
Normal
Abnormal
Replace the internal leads.
Yes
Alarm?
34
No
Continue normal
operation.
Yes
H13
Is the wiring for the motor
correct?
Yes
Yes
No
No
Yes
Yes
Was "MOVJ" the move
instruction at the position
where the alarm occurred?
No
Yes
Does the robot axis move at the
same time with any other axes?
Continue normal
operation.
No
Yes
Yes
Alarm?
No
Yes
Alarm?
No
Continue normal
operation.
35
An alarm
occurs.
Yes
Yes
No
Yes
No
Yes
Alarm?
No
Yes
Alarm?
No
Yes
No
Continue normal
operation.
36
This alarm occurs at the servo gun axis. There may be a defect in the WRCF01
circuit board, the XEI01 circuit board, the XIU unit, or the connecting cable
between the WRCF01 circuit board and the XEI01 circuit board.
Yes
No
Yes
No
Yes
No
Yes
No
Yes
Alarm?
No
Yes
No
Yes
No
Continue normal
operation.
37
CAUTION
No
Yes
Alarm?
Yes
No
Yes
Yes
No
No
Yes
Continue normal
operation.
No
Yes
Continue normal
operation.
No
Yes
Yes
Alarm?
Yes
Alarm?
No
Alarm?
No
Continue normal
operation.
Yes
Continue normal
operation.
Yes
No
No
Alarm?
Continue normal
operation.
No
Yes
Alarm?
No
Continue normal
operation.
Converter
SERVOPACK
Tester
(Measure the
resistance.)
L1 L2 L3 B1 B2
CN30
CN1
Regenerative
resistor
Fig. 3
38
Fig. 4
CAUTION
Before checking the wiring
connections, turn OFF the control
power supply.
Use a tester to confirm that all the
LEDs on the SERVOPACK and
converter are unlit and that no
charged electricity remains.
(It may take a few minutes until all
the electricity is discharged.)
An alarm occurs.
Does the alarm occur
when the servo is OFF?
No
Yes
Alarm?
Yes
Protection against
the axis falling
Disconnect CN29 on the
XIU01 unit.
Yes
No
Alarm?
Yes
No
No
No
Yes
Yes
Yes
No
Alarm?
Alarm?
Yes
No
No
Continue normal
operation.
SERVOPACK
E11 E12 U11 U12 V11 V12 W11 W12
Tester
(Measure the
resistance.)
Continue normal
operation.
Continue normal
operation.
Yes
No
Yes
Alarm?
Alarm?
No
Continue normal
operation.
With the S-axis, for example, disconnect all the motor power
cables of the S-axis from the terminal block. Measure the
resistance between E11 and U11, U12, V11, V12, W11, and
W12, and between E12 and U11, and U12, V11, V12, W11,
and W12, to confirm that all the contacts are open.
Fig. 5
39
CAUTION
Before checking the wiring connections, turn
OFF the control power supply.
Use a tester to confirm that all the LEDs on the
SERVOPACK and converter are unlit and that
no charged electricity remains.
(It may take a few minutes until all the
electricity is discharged.)
Yes
Yes
No
No
Yes
No
No
Yes
Alarm?
No
Non-fuse
breaker
Yes
Alarm?
No
Yes
Alarm?
Tester
(Measure the
resistance.)
No
Converter
L1 L2 L3 B1 B2
40
CAUTION
Before checking the wiring
connections, turn OFF the control
power supply.
Use a tester to confirm that all the
LEDs on the SERVOPACK and
converter are unlit and that no
charged electricity remains.
(It may take a few minutes until all
the electricity is discharged.)
Take a corrective measure to
prevent the axis from falling when
the servo is terned ON.
An alarm occurs.
Does the alarm occur
when the servo is OFF?
No
Yes
Yes
Continue normal
operation.
Yes
Protection against
the axis falling
Disconnect CN29 on the
XIU01 unit.
Yes
No
No
Alarm?
Yes
No
No
No
Yes
Yes
Alarm
No
No
No
Yes
Alarm?
Yes
Alarm?
No
Continue normal
operation.
Continue normal
operation.
SERVOPACK
Continue normal
operation.
Tester
(Measure the
resistance.)
Yes
No
Continue normal
operation.
With the S-axis, for example, disconnect all the motor power
cables of the S-axis from the terminal block. Measure the
resistance between E11 and U11, U12, V11, V12, W11, and
W12, and between E12 and U11, U12, V11, V12, W11, and
W12, to confirm that all the contacts are open.
Fig. 7
41
CAUTION
Before checking the wiring connections, turn
OFF the control power supply.
Use a tester to confirm that all the LEDs on
the SERVOPACK and converter are unlit and
that no charged electricity remains.
(It may take a few minutes until all the
electricity is discharged.)
Yes
Remove connector CN30 on the
WRCA01 circuit board and re-insert it.
(See Fig. 8.)
Alarm?
Yes
Converter
CN1
No
SERVOPACK
Remove connector CN1 on the
converter and re-insert it. (See Fig. 8.)
Alarm?
CN30
Yes
No
Yes
Alarm?
No
Continue normal
operation.
No
Alarm?
Yes
Yes
Alarm?
No
Continue normal
operation.
Yes
Alarm?
No
Continue normal
operation.
Yes
No
No
Continue normal
operation.
Tester
(Measure the
resistance.)
Converter
L1 L2 L3 B1 B2
Measure the voltage between L1 and L2, L1 and L3, and L2 and L3
to confirm the voltage is less than 200V + 10%.
Fig. 9
42
CAUTION
An alarm
occurs.
Yes
Converter
CN1
No
SERVOPACK
Continue normal
operation.
CN30
Yes
No
Fig. 10
Yes
No
Yes
Alarm?
No
Continue normal
operation.
Yes
43
Alarm?
No
Continue normal
operation.
An alarm
occurs.
Yes
SERVOPACK
Check the encoder type.
(before and after the motor type is changed.)
Alarm?
CNPG456
Yes
No
CNPG123
Fig. 11
Yes
No
CN4
CN2
XEI01
Yes
No
Yes
No
Fig. 12
Yes
No
Yes
Check connectors CN2 and CN4 on
the XEI circuit board. (See Fig. 12.)
Alarm?
Yes
No
No
Yes
Alarm?
No
Yes
No
44
SERVOPACK
An alarm
occurs.
Yes
No
CNPG456
Continue normal operation.
CNPG123
Fig. 13
Remove the connectors CNPG123 and
CNPG456 on the corresponding WRCA01
circuit board and re-insert them.
Alarm?
Yes
No
Yes
Alarm?
No
45
SERVOPACK
CNPG456
Yes
CNPG123
Fig. 14
No
XIU01-!!
XTU01
Confirm that relay K13 of the XTU01
circuit board is not stuck or
disconnected. (See Fig. 15.)
K14
Yes
Alarm?
No
K15 K13
Remove connectors CNPG123 and
CNPG456 on the corresponding WRCA01
circuit board and re-insert them.
Alarm?
Yes
No
Fig. 15
Replace the motor (encoder).
Yes
Alarm?
46
No
Continue normal operation.
The defective encoder caused the alarm.
Yes
No
SERVOPACK
CNPG456
CNPG123
Yes
No
Fig. 16
Replace the motor (encoder).
Yes
Alarm?
No
47
SERVOPACK
CNPG456
CNPG123
Yes
No
Fig. 17
Yes
No
No
Yes
Yes
No
Continue normal operation.
The defective encoder caused the alarm.
48
CN20
CN50
Yes
No
Fig. 18
Yes
No
Continue normal operation.
The defective WRCA01 circuit board caused the alarm.
SERVOPACK
CNPB4
CNPB5 CNPB6
Yes
CNPB1
No
CNPB2 CNPB3
Fig. 19
Yes
No
Yes
Alarm?
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Yes
No
Yes
No
Continue normal operation.
The defective SERVOPACK caused the alarm.
49
SERVOPACK
CNPB4
CNPB5 CNPB6
Yes
CNPB1
No
CNPB2 CNPB3
Fig. 20
Yes
No
Yes
Alarm?
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Yes
No
Yes
No
Continue normal operation.
The defective SERVOPACK caused the alarm.
50
An alarm
occurs.
Yes
No
Yes
Continue normal
operation.
No
Yes
No
Yes
Alarm?
No
Continue normal
operation.
Yes
51
Alarm?
No
Continue normal
operation.
An alarm
occurs.
Yes
No
Continue normal operation.
The wrong operation of the WRCA
circuit board caused the alarm.
XIU01-!!
XTU01
Yes
No
K14
K15 K13
Yes
Alarm?
No
Continue normal operation.
The defective relay caused the alarm.
Yes
Alarm?
No
Fig. 21
Non-fuse breaker
Tester
(Measure the
resistance.)
Yes
Alarm?
t
Contact your Yaskawa
representative.
Converter
L1 L2 L3 B1 B2
52
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Yes
K14
No
K15 K13
Confirm that relay K15 of the XTU01
circuit board is not stuck or
disconnected.
(See Fig. 23.)
Alarm?
Yes
No
Fig. 23
Yes
Alarm?
No
Yes
Alarm?
53
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
CAUTION
Before checking the wiring connections,
turn OFF the control power supply.
Use a tester to confirm that all the LEDs
on the SERVOPACK and converter are
unlit and that no charged electricity
remains.
(It may take a few minutes until all the
electricity is discharged.)
Yes
No
Yes
No
XIU01-!!
XTU01
Alarm?
Yes
No
Continue normal operation.
The poor contact caused the alarm.
K14
Yes
No
K15 K13
Confirm that the contactor is not
stuck. (See Fig. 25.)
Alarm?
Yes
Fig. 24
No
Continue normal operation.
The stuck contactor caused
the alarm.
Yes
No
Continue normal operation.
The defective relay caused
the alarm.
Yes
Replace the XTU01 circuit board.
Yes
Alarm?
Yes
Alarm?
No
Continue normal operation.
The defective XTU01 circuit
board caused the alarm.
No
Replace the WRCA01 circuit board.
Yes
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit
board caused the alarm.
Continue normal
operation.
Contact your Yaskawa
representative.
Non-fuse breaker
R
Converter
Tester
(Measure the
resistance.)
CN1
Converter
L1 L2 L3 B1 B2
Fig. 25
54
SERVOPACK
CN30
Fig. 26
SERVOPACK
Remove connector CN30 of the
WRCA circuit board and re-insert it.
(See Fig. 27.)
Alarm?
CN30
CN1
Yes
Fig. 27
CN7
No
Yes
XIU01-!!
XTU01
Yes
No
No
Continue normal operation.
The poor contact caused the alarm.
Yes
No
K15 K13
Confirm that the contactor is not
stuck. (See Fig. 29.)
Alarm?
Yes
Fig. 28
Alarm?
No
Replace the XTU01 circuit board.
Alarm?
Yes
Continue normal
operation.
Tester
(Measure the
resistance.)
Converter
L1 L2 L3 B1 B2
No
Yes
Non-fuse breaker
Yes
Yes
No
No
Fig. 29
55
CN1
SERVOPACK
CN30
An alarm
occurs.
Yes
CN7
Fig. 30
Check connector CN1 of the
converter. (See Fig. 30.)
Alarm?
Yes
Yes
No
No
Continue normal operation.
The poor contact caused the alarm.
Yes
Alarm?
No
Continue normal operation.
The defective SERVOPACK caused the alarm.
Yes
Alarm?
No
Continue normal operation.
The defective converter caused the alarm.
Yes
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit board caused the alarm.
56
SERVOPACK
CNPB4
CNPB5
CNPB6
Yes
CNPB1
CNPB2
No
CNPB3
Fig. 31
Yes
No
Continue normal operation.
The poor contact caused the alarm.
Yes
Alarm?
No
Yes
Alarm?
No
Continue normal operation.
The defective WRCA01 circuit board caused the alarm.
57
K14
Yes
K15 K13
Is it an axis with a brake?
Yes
Fig. 32
No
Yes
Alarm?
No
Yes
No
Yes
No
Yes
No
Continue normal operation.
A faulty connection caused the alarm.
58
CNPG456
Yes
No
Continue normal operation.
CNPG123
Fig. 33
Yes
No
Yes
Alarm?
No
Continue normal operation.
The defective encoder caused the alarm.
59
Yes
No
Yes
Alarm?
No
Continue normal operation.
The overheated encoder caused the alarm.
Yes
Alarm?
No
Continue normal operation.
The defective encoder caused the alarm.
60
An alarm
occurs.
Yes
SERVOPACK
No
Yes
CNPG456
Replace the battery.
CNPG123
Fig. 34
Alarm?
Yes
Yes
No
Continue normal operation.
The data was cleared because the
battery was low causing the alarm.
No
No
Yes
61
An alarm
occurs.
Yes
SERVOPACK
CNPG456
Yes
No
Continue normal operation.
The battery being low caused the alarm.
No
CNPG123
Remove connectors CNPB123 and
CNPB456 of the WRCA01 circuit board
and re-insert them. (See Fig. 35.)
Fig. 35
Alarm?
Yes
No
Continue normal operation.
A faulty connection caused the alarm.
Yes
Alarm?
No
Yes
Alarm?
No
Continue normal operation.
The overheated encoder caused the alarm.
Yes
Alarm?
No
Continue normal operation.
A defective encoder caused the alarm.
62
An alarm
occurs.
SERVOPACK
CNPG456
Yes
Alarm?
No
CNPG123
Fig. 36
Yes
No
Yes
No
63
YASNAC XRC
TROUBLESHOOTING
TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-6891, Japan
Phone 81-3-5402-4511
Fax 81-3-5402-4580
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.