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TROUBLESHOOTING
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
1-32 August 9, 2005
K
a
a
aw
s
k
ERROR CODE D1504 Abn. curr. feedback Jt XX. (Amp fail, pwr harness discon-
nect).
This error occurs if the current feedback value is near 0 from the time the servo is turned
ON until the brake is released, even if the commanded current value meets or exceeds
the expected current.
Robot
Motors
Current
sensor
1GM board
I/V
converter
Servo CPU
IPM
Controller
Power block
Current
feedback
1KB Board
U, V, W
earth
Main causes:
1. Motor power line U, V, and/or W phase are disconnected.
2. Improper power harness line connection.
3. Defective power block
⇒
Check the power line wiring and repair or replace as necessary.
⇒
Replace the power block.
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