Relating To The I/O - Yamaha DRCX User Manual

No. Symptom
7 Robot starts
moving at high
speed when the
power is turned
on.
* The DRCX
controller has
a safety
circuit to
detect wire
breakage, but
check the
points listed
on the right
anyway.
Robot speed is
8
abnormally fast
or slow.

13-3-2 Relating to the I/O

No. Symptom
1 Output signal
cannot be
controlled.
* In cases other
than cause 2,
the output
signal cannot
be controlled
even with the
manual
instruction of
TPB general-
purpose output.
2 Robot will not
move even
with dedicated
command
input.
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Possible Cause Items to Check
1) Motor and/or • Check the motor wire and resolver
resolver are signal wire connections.
miswired.
2) Parameter error
1)
Parameter setting • Check whether the robot setting
error displayed on the TPB matches the
robot actually used.
2) Speed setting was • Check the speed parameter (PRM17).
changed.
Possible Cause Items to Check
1) Wiring to external • Check the wiring.
devices is • Check the operation with the manual
incorrect. instruction of the TPB general-purpose
output. (Refer to "7-4 Manual Control
of General-Purpose Output".)
2) Misprogramming • Connect the TPB and check the
program.
3) Output transistor • Measure the voltage at the PLC input
is defective. terminal.
ON: 0.5V or less
OFF: +IN COM (+24V)
Return-to-origin • Connect the TPB and check the
1)
has not yet been operation.
completed.
Program cannot be • Connect the TPB and check the
2)
run. operation.
Signal pulse width • Check that the signal pulse width is
3)
is too narrow. 50ms or more.
4) Time interval • After canceling emergency stop, allow
before inputting a at least 200ms before inputting a
dedicated command dedicated command before inputting a
after canceling dedicated command.
emergency stop is
too short.
5) Interlock signal • Check the signal by using the TPB DIO
remains off. monitor.
Another dedicated • Check the signal input (by using a PLC
6)
command input is monitor, etc.).
on.
13-3 Troubleshooting for Specific Symptom
Action
• Correct the connections.
• Try Initialize the parameters.
• If they do not match, initialize the
parameters.
• Correct the parameter.
Action
• Make the correct wiring by referring to
the connection diagram.
• Change the program.
• Replace the DRCX controller if the
output transistor is defective.
• Reperform return-to-origin.
• Eliminate the cause of error by
referring to the error message.
• Increase the signal pulse width ("on"
duration).
• Increase the delay time.
• Switch on the interlock signal.
• Turn off the dedicated command input.
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