Yamaha FLIP-X Series, User Manual

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Chapter 6 Troubleshooting
6-4
6-2 Feedback error
Much mechanical friction?
Does coupling slip?
Are wiring and connector
securely connected?
Is wiring live?
Is motor resistance OK?
Is motor encoder OK?
Is controller hardware OK?
Turn power off and check for friction by moving manually
Turn power on and check to see if coupling slips by applying force while holding robot in place
Is brake installed?
Tighten coupling screw
Securely connect wiring and connector Replace motor since motor has shorted or burnt out
Is there electrical
discontinuity?
Repair
Are connector pins
securely inserted?
Securely insert pins or repair defective pins
When feedback error is occurring, perform continuity check (1) Check motor power supply lines U, V and W (2) Check encoder signal lines for phases A and B (1) Check position shift by repetitive accuracy measurement (2) If replacement motor is available, check by exchanging the motors
Replace motor
Is external noise large?
Take noise reduction measures
Yes Yes
No No No
No No
No No Yes Yes Yes Yes
Yes
Yes
No
Yes
Feedback error
Any foreign matter
caught inside?
Adjust mechanical alignment
No
No
Is 24V supplied to brake?
Replace power supply unit or repair defective parts
No
Yes
Yes
Repair
Yes
Is there electrical
discontinuity?
Is brake sound
heard when turning power
on and off?
Recheck
No
Are parameters
for controller and
robot OK?
Initialize parameters
No
Yes
(1) If replacement controller is available, check by
exchanging the controllers
Replace motor (with brake)
Yes