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            Overcurrent (RC7)

            Modified on Tue, 12 Nov at 11:56 AM 

            Please read our Legal Disclaimer before executing any steps on this article.


            Overview

            Applicable Errors: 

            • 6119 – J1 Overcurrent 
            • 611A – J2 Overcurrent 
            • 611B – J3 Overcurrent
            • 611C – J4 Overcurrent
            • 611D – J5 Overcurrent
            • 611E – J6 Overcurrent
            • 611F – J7 Overcurrent
            • 6120 – J8 Overcurrent


            • 6121 – J1 Overcurrent
            • 6122 – J2 Overcurrent
            • 6123 – J3 Overcurrent
            • 6124 – J4 Overcurrent
            • 6125 – J5 Overcurrent
            • 6126 – J6 Overcurrent
            • 6127 – J7 Overcurrent
            • 6128 – J8 Overcurrent

            Error Description: 

            Current flow through the motor of the corresponding axis exceeded the permitted value. 


            Possible Remedy:  

            • Confirm the end of arm load is not in excess of parameter value & arm capacity 
            • Motor encoder cable broken.
            • Robot is not colliding with any external obstacle. 
            • IPM card failure 
            • Robot internal wiring is damaged 
            • Mechanical failure of drive component in specified joint
            • Motor failure

            Tools and Parts Needed:

            • Full Sized Teaching Pendant
            • #2 Phillips Screwdriver
            • Hex Wrench Set


            Step by Step Guide


            Step 1

            Confirm the end of arm load is not in excess of parameter value & arm capacity

            • Identify specifications of tooling (mass of payload, COG).
            • Confirm parameter value (arm – aux – config – parameters 9 through 12).

            Step 2

            Verify the motor encoder cable is not broken or damaged

            • Confirm visually.

            Step 3

            Robot is not colliding with any external obstacle.
            • Confirm visually.

            Step 4

            Verify IPM card operation.
            1. Replace IPM Card of erroring joint with card of another card same size within controller.  

            Step 5

            Verify no damage to wiring harness inside of robot.
            1. Remove arm covers and confirm visually

            Step 6

            Verify there is no mechanical failure of drive component in specified joint


            1. Release brake of specified joint and move joint by hand. Check for seizing, inconsistent movement or rough movement.

            Step 7

            Motor failure


            1. Release brake of specified joint and check for seizing or tightness when moving.


            Next Steps:

            • If the error persists, please contact support@densorobotics.com for support in the Americas.  
            • For repair options outside of the Americas, please contact your local Denso Service Center.


            Owner's Manual Reference

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