5.2. Warning message

5.2. Warning message

 

Code	W0162	Axis %s) Abnormality is detected in the W0162 brake hold test.
Description	The motor angle change exceeds the reference value during the brake hold test.
Action	1) Check if the hold test reference value is too low for the axis. 2) Check if it escapes to a safe position with the motor on. 3) If the robot does not move to the escape position, move it manually. 4) Check the motor brake of the axis (brake operation, oil penetration, etc.). 5) Replace the motor of axis where a problem was found.

 

Code	W0163	Axis %2d) Abnormality is detected in the W0163 brake release test.
Description	The motor angle change was lower than the reference value during the brake release test.
Action	1) Check if the release test reference value is too high for the axis. 2) Check if the brake control signal of the axis has been set correctly. 3) Check if the brake works for the axis with the brake release sound. 4) If positional deviation error occurs and it is impossible to move the axis, move it to a safe position using another axis jog. 5) Check the brake of the axis motor (brake operation, motor power supply, etc.). 6) Replace the motor of axis where a problem was found.

 

 

Code	W21001	Axis 0) The test result is not good for the test.
Description	The angle change of the hold test exceeds half of that of the release test for the axis of issue.
Action	1)     Increase the torque application ratio of axis where the warning occurred at a maximum value so as to automatically reset the reference value. 2)    Check if there are no errors in the brake wiring. 3)    Check if the brake hold and release outputs are correct on the system board. 4)    Check the motor of axis at issue. 5)    If no issue is found, test the brake with the axis excluded.

 

 

Code	W21002	Axis 0) The angle change is too large in the brake hold state.
Description	The motor angle change exceeds 0.01 rad in a brake hold state.
Action	1)     Decrease the torque application ratio of axis where the warning occurred at a minimum value so as to automatically reset the reference value. 2)    Check if there are no errors in the brake wiring. 3)    Check if the brake hold and release outputs are correct on the system board. 4)    Check the motor of axis at issue. 5)    If there are no problems, test the brake with the setting values. 6)    Replace the motor of axis where a problem was found.