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2. Troubleshooting
2. Robot operation
Symptom
1
Controller turns
on but can't
execute program
and manual
movement.
Chapter
9
2
Abnormal sound
or vibration.
9-58
Possible cause
• Interlock signal.
• Robot is in
emergency stop.
• Error occurred.
• Wrong robot or axis
type setting.
• Tip weight/
acceleration settings
are incorrect.
• Mechanical problem
occurred.
• Controller is
defective.
Check items
• Check the interlock
signal of the
SAFETY I/O
interface connector
and also check the
24V power supply
for connection.
• Check DI11
(Interlock input) on
RPB screen.
• Connect the RPB
and check error.
information.
• Check DI00
(Emergency stop
ready signal) on
RPB screen.
• Connect the RPB and
check error info
• Check if "ERR" LED
on front panel is lit.
• Connect RPB and
check robot settings
in SYSTEM mode.
• Check if robot and
controller are
compatible.
• Check tip weight
parameter setting in
SYSTEM mode.
• Check "Accel.
Coefficient"
parameter setting in
SYSTEM mode.
• Check AXWGHT/
ACCEL commands
in program
language.
• Check for
resonance in robot
frame.
• Check for loose
screws on robot
cover.
• Check for warping
or damage on
guides or ball
screws.
• Replace with
another controller
and check
operation.
Corrective action
• Connect the
interlock signal of
the SAFETY I/O
interface
connector.
• Connect the 24V
power supply.
• Disable interlock
signal with the
parameter.
• Release RPB
emergency stop
switch.
• Plug in RPB
connector.
• Connect RPB
emergency stop
terminal of SAFETY
connector.
• Check the cause
from the error
information.
• Eliminate the cause
of the error.
• Change to correct
robot or axis type
setting.
• Make sure robot
and controller are
compatible.
• Set a correct tip
weight parameter
• Set a correct
"Accel. Coefficient"
parameter.
• Make a correct
setting in the
program language.
• Reinforce the robot
frame.
• Tighten the robot
cover screws.
• Remove foreign
matter if found.
• Replace if warped
or damaged guides
or ball screws are
found.
• If operation is
normal use the
substitute
controller.
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