Yamaha ERCX Series User Manual page 240

13-3 Troubleshooting for Specific Symptom
13
8
13-
No. Symptom Possible Cause
4 Abnormal noise 1) Coupling is not
or vibration securely tightened.
occurs.
2) A screw on the
cover is loose.
3)
Robot installation
surface is not flat
or even.
4) Linear guide
abnormality
5) Ball screw
abnormality
6)
Bearing
abnormality
7) Motor failure
8)
Improper
grounding of
motor case
9)
Parameter setting
error
10) Controller failure
Position
5 1) Coupling or pulley
deviation or
is not securely
offset occurs.
tightened.
If this occurs,
2) Ball screw is loose.
leave the power
3) Belt is not
on and perform
properly engaged.
return-to-origin.
Depending on
4) Robot is not
the results of the
securely installed.
return-to-origin,
there are two
5)
Malfunction
possible causes
caused by noise
of the problem:
• If position
offset is not
corrected by
the return-to-
origin:
Mechanical
offset - See
causes 1) to
4).
6)
The robot was
• If position
moved at high
offset is
speeds during
corrected by
power off. (higher
the return-to-
than 3000rpm)
origin:
Electrical
7) Controller failure
offset - See
causes 5) to
8).
8) Motor failure
During return-
6 1) Wrong robot type
to-origin, the
number setting
robot stops due
2) Parameter setting
to alarm after
striking on the
error
stroke end
(overload).
3) The origin
position is
inappropriate so
the robot slider
makes contact
with the damper
when at the origin.
Items to Check
• Check the coupling bolts.
• Check the screws used to secure the
cover.
• Measure the degree of leveling.
• Check for debris intrusion, damage or
deformation.
• Check for debris intrusion, damage or
deformation.
• Check for noise or vibration around the
axis.
• Try replacing the motor with another
one.
• Measure to see if the resistance
between the motor case and the
controller's FG terminal is 1 ohm or
less.
• Check the parameter data.
• Try using another controller if
available.
• Check the coupling or pulley bolts.
• Check the ball screw.
• Check the acceleration.
• Check the amount of belt slack.
• Make sure there is no loose parts where
the robot is installed.
• Check whether the motor case is
properly grounded.
• Check that the resistance between the
motor case and the controller's FG
terminal is 1 ohm or less, and also that
the controller is properly grounded.
• Try using another controller if
available.
• Try replacing the motor with another
one.
• Connect the TPB and check the robot
type number.
• Check the origin detection method
parameter (PRM13) setting.
• Use the TPB to check whether the
alarm occurs before or after return-to-
origin is complete. If the alarm occurs
after return-to-origin is complete, the
damper position is inappropriate.
Action
• Tighten if loose.
• Tighten if loose.
• Correct the leveling if outside the
tolerance limit.
• Clean or replace the linear guide.
• Check to make sure the linear guide is
being used properly.
• Clean or replace the ball screw.
• Check to make sure the ball screw is
being used properly.
• Correct the assembled condition.
• If another motor works normally, then
the currently used motor is defective so
replace it.
• If the resistance is too high, find and
repair the poor connection.
• Initialize the parameters.
• If another controller operates normally,
then the currently used controller is
defective, so replace it.
• Use the correct controller and robot
combination.
• Tighten if loose.
• Replace the ball screw if necessary.
• Correct the parameter setting.
• Adjust the belt tension.
• Reinstall the robot securely.
• If the controller is used near a unit that
generates noise such as welding
machines and electric discharge
machines, move it as far away as
possible. If the entire unit cannot be
moved, then at least move the power
supply away. It might be necessary to
use a noise filter or isolating
transformer depending on the trouble.
• Do not move the robot at high speeds
while the position data is retained.
• If another controller operates normally,
then the currently used controller is
defective, so replace it.
• If another motor works normally, then
the currently used motor is defective so
replace it.
• When the parameter setting is "1"
(stroke-end detection method), "3"
(mark method), initialize the parameter.
• When the parameter setting is "0"
(sensor method), set the parameter to
"1".
• Adjust the origin position.