Troubleshooting For Specific Symptom; Relating To The Robot Movement - Yamaha DRCX User Manual

13-3 Troubleshooting for Specific Symptom

If any problems develop while the controller is being used, check the items below for the appropriate
way to handle them. If the problem cannot be corrected using the steps listed below, please contact
our sales office or sales representative right away.

13-3-1 Relating to the robot movement

No. Symptom
1 Servo of robot
does not lock
even after
power is turned
on.
2 Program does
not run
correctly.
3 Origin
incomplete
error occurs
even if using a
robot with
absolute
specifications.
Return-to-origin
is required to
start robot
operation.
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Possible Cause Items to Check
1)
Power is not being • Check that the status LED on the front
supplied. panel of the controller lights up or
flashes.
2) Emergency stop • If the READY signal of the I/O
is activated. connector is off and no alarm has been
issued, an emergency stop is in effect.
• Check whether the status LED is flashing.
3) The servo is off. • Check whether the servo has been
turned off in the program, and whether
the TPB has been plugged or
unplugged without pressing the ESC
switch.
• Check whether the status LED is
flashing.
4) An alarm has • Connect the TPB and check whether an
occurred. alarm is displayed.
• Check whether the status LED is lit in red.
1) Misprogramming • Run step operations to check whether
the program is correct.
2) A different • Reset the program and check whether
program is the desired program is selected.
selected.
3) The selected • Reset the program and check whether
program No. was the desired program is selected.
switched when the
program was
loaded into the
controller from the
memory card.
1) A parameter • Check whether a parameter has been
relating to the changed from the TPB or POPCOM or
origin was whether a parameter has been loaded
changed. into the controller from the memory
card or whether parameters have been
initialized.
2) Feedback error 2 • Check the cable for electrical
or an alarm discontinuity or check whether the
relating to absolute battery is sufficiently charged.
absolute control
occurred.
3) Absolute backup • Check whether bit 4 of PRM20 is set to
function is "1".
disabled by
parameter setting.
13-3 Troubleshooting for Specific Symptom
Action
• Check the voltage on the power input
terminal block. If the voltage is correct,
replace the DRCX controller.
• Check whether the emergency stop
button of the TPB or the I/O emergency
stop input (between EMG1 and EMG2)
is on.
• Turn the servo on with the I/O servo
recovery input or from the TPB
operation.
• Take corrective action according to the
instructions in the alarm message list.
• Correct the program if necessary.
• Change the program to select the
desired program.
• Change the program to select the
desired program.
• If an origin-related parameter has been
changed, perform return-to-origin
again.
• Remove the cause of alarm and then
perform return-to-origin.
• Set bit 4 of PRM20 to "1".
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