Yamaha ERCX Series, User Manual

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13-
7
13
TROUBLESHOOTING
13-3 Troubleshooting for Specific Symptom
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
Items to Check
• Check that the status LED on the front
panel of the controller lights up or
flashes.
• If the READY signal of the I/O
connector is off and no alarm has been
issued, an emergency stop is in effect.
• Check whether the status LED is flashing.
• Check whether the servo has been
turned off in the program, and whether
the TPB has been plugged or
unplugged.
• Check whether the status LED is
flashing.
• Connect the TPB and check whether an
alarm is displayed.
• Check whether the status LED is lit in red.
• Run step operations to check whether
the program is correct.
• Reset the program and check whether
the desired program is selected.
• Reset the program and check whether
the desired program is selected.
• Check whether a parameter has been
changed from the TPB or POPCOM or
whether a parameter has been loaded
into the controller from the memory
card or whether parameters have been
initialized.
• Check the cable for electrical
discontinuity or check whether the
absolute battery is sufficiently charged.
• Check whether bit 4 of PRM34 is set to
"1".
Action
• Check the voltage at the power cable
plug. If the voltage is correct, replace
the ERCX 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 PRM34 to "1".
No.
1
2
3
Possible Cause
Power is not being
supplied.
Emergency stop
is activated.
The servo is off.
An alarm has
occurred.
Misprogramming
A different
program is
selected.
The selected
program No. was
switched when the
program was
loaded into the
controller from the
memory card.
A parameter
relating to the
origin was
changed.
Feedback error 2
or an alarm
relating to
absolute control
occurred.
Absolute backup
function is
disabled by
parameter setting.
Symptom
Servo of robot
does not lock
even after
power is turned
on.
Program does
not run
correctly.
Origin
incomplete
error occurs
even if using a
robot with
absolute
specifications.
Return-to-origin
is required to
start robot
operation.
1)
2)
3)
4)
1)
2)
3)
1)
2)
3)