Relating To The I/O - Yamaha ERCX Series User Manual

No. Symptom Possible Cause
7 Robot starts 1) Motor and/or
moving at high resolver are
speed when the miswired.
power is turned
on.
2) Parameter error
* The ERCX
controller has
a safety
circuit to
detect wire
breakage, but
check the
points listed
on the right
anyway.
8 Robot speed is 1) Parameter setting
abnormally fast error
or slow.
2) Speed setting was
changed.

13-3-2 Relating to the I/O

No. Symptom
Possible Cause
1 Output signal 1)
Wiring to external
cannot be
devices is
controlled.
incorrect.
* In cases other
than cause 2,
the output
2)
Misprogramming
signal cannot
be controlled
even with the
3)
Output transistor
manual
is defective.
instruction of
TPB general-
purpose output.
2 Robot will not
1) Return-to-origin
move even
has not yet been
with dedicated
completed.
command
2) Program cannot
input.
be run.
3) Signal pulse width
is too narrow.
4)
Time interval
before inputting a
dedicated command
after canceling
emergency stop is
too short.
5) Interlock signal
remains off.
6) Another dedicated
command input is
on.
13-3 Troubleshooting for Specific Symptom
Items to Check
• Check the motor wire and resolver
signal wire connections.
• Check whether the robot setting
displayed on the TPB matches the
robot actually used.
• Check the speed parameter (PRM30).
Items to Check
• Check the wiring.
• Check the operation with the manual
instruction of the TPB general-purpose
output. (Refer to "7-4 Manual Control
of General-Purpose Output".)
• Connect the TPB and check the
program.
• Measure the voltage at the PLC input
terminal.
ON: 0.5V or less
OFF: +IN COM (+24V)
• Connect the TPB and check the
operation.
• Connect the TPB and check the
operation.
• Check that the signal pulse width is
50ms or more.
• After canceling emergency stop, allow
at least 200ms before inputting a
dedicated command before inputting a
dedicated command.
• Check the signal by using the TPB DIO
monitor.
• Check the signal input (by using a PLC
monitor, etc.).
Action
• Correct the connections.
• Try initializing the parameters.
• If they do not match, initialize the
parameters.
• Correct the parameter.
Action
• Make the correct wiring by referring to
the connection diagram.
• Correct the program.
• Replace the ERCX 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.
• Turn on the interlock signal.
• Turn off the dedicated command input.
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