13-3 Troubleshooting for Specific Symptom

13

TROUBLESHOOTING

No.

Symptom

Possible Cause

Items to Check

Action

 

 

 

 

 

4

Position

1) Robot is not

• Make sure there is no loose parts where

• Reinstall the robot securely.

 

deviation or

securely installed.

the robot is installed.

 

 

offset occurs.

 

 

 

 

2) Robot is at fault.

 

• Refer to the robot user's manual.

 

If this occurs,

 

 

 

 

 

 

3) Malfunction

• Check whether the motor case is

• If the controller is used near a unit that

 

leave the power

 

on and perform

caused by noise

properly grounded.

generates noise such as welding

 

return-to-origin.

 

• Check that the resistance between the

machines and electric discharge

 

Depending on

 

motor case and the controller's FG

machines, move it as far away as

 

the results of

 

terminal is 1 ohm or less, and also that

possible. If the entire unit cannot be

 

the return-to-

 

the controller is properly grounded.

moved, then at least move the power

 

origin, there are

 

 

supply away. It might be necessary to

 

two possible

 

 

 

 

 

use a noise filter or isolating

 

causes of the

 

 

 

 

 

transformer depending on the trouble.

 

problem:

 

 

 

 

 

 

 

• If position

4) Controller failure

• Try using another controller if

• If another controller operates normally,

 

offset is not

 

available.

then the currently used controller is

 

corrected by

 

 

 

 

defective, so replace it.

 

the return-to-

 

 

 

 

 

 

 

origin:

 

 

 

 

Mechanical

 

 

 

 

offset - See

 

 

 

 

causes 1) to

 

 

 

 

2).

 

 

 

 

• If position

 

 

 

 

offset is

 

 

 

 

corrected by

 

 

 

 

the return-to-

 

 

 

 

origin:

 

 

 

 

Electrical

 

 

 

 

offset - See

 

 

 

 

causes 3) to

 

 

 

 

4).

 

 

 

 

 

 

 

 

5

During return-

1) Wrong robot type

• Connect the TPB and check the robot

 

 

to-origin, the

number setting

type number.

 

 

robot stops due

 

 

 

 

2) Parameter setting

• Check the origin detection method

• When the parameter setting is "1"

 

to alarm after

 

error

parameter (PRM13) setting.

(stroke-end detection method),

 

striking on the

 

 

 

initialize the parameters.

 

stroke end

 

 

 

 

 

• When the parameter setting is "0"

 

(overload).

 

 

 

 

 

(sensor method), set the parameter to

 

 

 

 

 

 

 

 

"1".

 

 

 

 

 

 

 

3) The origin

• Use the TPB to check whether the

• Contact our sales office or

 

 

position is

alarm occurs before or after return-to-

representative.

 

 

inappropriate so

origin is complete. If the alarm occurs

 

 

 

the robot slider

after return-to-origin is complete, the

 

 

 

makes contact

damper position is inappropriate.

 

 

 

with the damper

 

 

 

 

when at the origin.

 

 

 

 

 

 

 

6

Robot starts

1) Motor and/or

• Check the motor wire and position

• Correct the connections.

 

moving at high

position signal are

signal wire connection.

 

 

speed when the

miswired.

 

 

 

power is turned

 

 

 

 

2) Parameter error

 

• Try initializing the parameters.

 

on.

 

 

 

 

• The SRCP

 

 

 

 

controller has

 

 

 

 

a safety

 

 

 

 

circuit to

 

 

 

 

detect wire

 

 

 

 

breakage, but

 

 

 

 

check the

 

 

 

 

points listed

 

 

 

 

on the right

 

 

 

 

anyway.

 

 

 

 

 

 

 

 

7

Robot speed is

1) Parameter setting

• Check whether the robot setting

• If they do not match, initialize the

 

abnormally fast

error

displayed on the TPB matches the

parameters.

 

or slow.

 

robot actually used.

 

 

 

 

 

 

 

 

2) Speed setting was

• Check the speed parameter (PRM30).

• Correct the parameter.

 

 

changed.

 

 

13-8

Page 226
Image 226
Yamaha SRCP manual Troubleshooting for Specific Symptom