Troubleshooting - YASKAWA DX200 Instructions Manual

HW1485706
7.3
7

Troubleshooting

7.3 Troubleshooting
Troubleshooting
If the robot does not operate in the hand guiding function, confirm the
following items.
No. Assumed cause
1 The speed limit of the functional
safety function is not enabled.
2 Servo OFF state
3 Not job playback state
4 General output signal 4081
(#15110) is OFF.
5 The job is not executing the
WAIT command.
6 The enable switch is not
pressed.
7 The force is applied to the limited
direction of the rotation by the
operation angle limiting function.
8 The force is applied to the limited
direction of the operation by the
area limiting function.
9 The limit speed parameter is set
to 0.
10 The speed coefficient parameter
is set to 0.
11 MotoPlus is deleted.
7-8
Confirmation method
Refer to chapter 2.6 "Speed Limiting
Function" to confirm that the speed
limit is enabled.
Confirm that the state is servo ON.
Confirm that the robot is in the job
playback state.
Confirm the general output signal 4081
(#15110).
Confirm that the WAIT command is
performed on the job detail screen.
Confirm the signal of the enable switch
(FSBIN(#1)).
Confirm the value of the user variables
(I075 to I080).
Confirm the range intrusion signals
(#70200 to #70205).
Confirm the value of the user variables
(I087 to I092).
Confirm the value of the user variables
(I093 to I098).
Select {SYSTEM} - {VERSION} under
the main menu, and press [PAGE] to
confirm that the following MotoPlus is
registered.
HandGuiding AP018MP
□□.□□A(JP)-□□
□ represents the version number.
If the MotoPlus is deleted, contact your
YASKAWA representatives.
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