Yamaha 3-axis model, 4-axis model Absolute Reset, For Qrcx controller, For RCX40 controller

Chapter 3 Preparing the Robot

11 Absolute Reset

Refer to this section and set the origin position before using the robot.

The Cartesian robot XY-X Series uses an absolute method position detector, and thus return-to-origin is not required when the controller power is turned ON again. However, the origin position must be set the first time the controller power is turned ON from any of the following states.

(1)When robot cable is connected for the first time after delivery

(2)When the cable connection between the robot cable and controller has been disconnected

(3)When the absolute battery is not connected

(4)When the motor or cable is replaced

One of the following errors will appear when the power is turned ON in any of the above cases, but this is not an error. The robot will operate normally when the power is turned ON again.

For DRCX or TRCX controller

15:FEEDBACK ERROR 2

23:ABS. BAT. L-VOLTAGE

24:ABS. DATA. ERROR

For QRCX controller

17.80:D?.ABS.Encoder backup error 17.81:D?.ABS.Encoder battery alarm 17.85:D?.ABS.Encoder system error 17.92:D?.ABS.Cable disconnected 17.93:D?.ABS.Data overflow 17.94:D?.ABS.Battery degradation

For RCX40 controller

17.27: D?.ABS. backup failed (CPU)

17.80: D?.ABS. backup failed (DRIVER)

17.81: D?.ABS.battery wire breakage

17.92: D?.Resolver disconnected during power off

17.93: D?.Position backup counter overflow

17.94: D?.ABS.battery low voltage

etc

Note) Question marks (?) in the above error messages indicate the axis num- bers.

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