The type of encoder displayed by axis data
was different than the type set by system
configuration.
• The type of encoder was not correct.
• The system configuration setting of
encoder was not correct.
• Defective encoder
• Defective WRCA circuit board
(Note)
The encoder is accessories of motor, check
the type of motor to check the type of
encoder Check that the type of motor set by system configuration is same as actual
installed one. If the set data by system
configuration is correct, replace installed
motor with correct one. If set data by system configuration is not correct, set the
correct system configuration.
• If the error occurs again, replace
WRCA01 circuit board.
The motor speed displayed
by axis data exceeded allowable max speed. • The wiring of UVW wire of motor was not correct. • The type of motor was not correct. • The motor was moved by external power. • Defective WRCA01, WRCF01 circuit board • Defective motor(encoder) • Check the connection of motor. • Check the robot motion on alarm and check whether external power is operated or not. • Check the connection of UVW wire of motor again. If the error is found, alter the connection. • Check the reoccurence by reducting the teaching speed on alarm.There is a possibility that R,B,T axis move at a fast speed on liner interpolation according to teaching position. In this case, alter the teaching.
Check that the type of motor
is same as
the one described in the manual. If the
type is not correct, replace it with the correct motor.
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