Yamaha RCX240, User Manual

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Before using the robot controller (Be sure to read the following notes) Before using the robot controller (Be sure to read the following notes)
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Before using the robot controller (Be sure to read the following notes)
Please be sure to perform the following tasks before using the robot controller.
Failing to perform these tasks will require absolute reset for setting the origin position each time
the power is turned on or may cause abnormal operation (vibration, noise).
[1] When connecting the power supply to the robot controller
Always make a secure connection to the ground terminal on the robot controller to ensure
safety and prevent malfunctions due to noise.
Reference
Refer to "4. Connecting to the power" in Chapter 3, "INSTALLATION".
[2] When connecting the battery cable to the robot controller
The absolute batteries shipped with the controller are unused, and the battery connectors are
left disconnected to prevent discharge. After installing the controller, always be sure to connect
the absolute batteries while referring to "9. Connecting the absolute battery" in Chapter 3 before
connecting the robot cables.
An error (relating to absolute settings) is always issued if the robot controller power is turned
on without connecting the absolute batteries, so the origin position cannot be detected. This
means the robot connected to this controller cannot be used with absolute specifications.
[3] When connecting robot cables to the robot controller
Be sure to keep robot cables separate from the robot controller power connection lines and
other equipment power lines. Using in close contact with lines carrying power may cause
malfunctions or abnormal operation.
Reference
Absolute reset is always required when the robot controller power is first
turned on after connecting the robot cable to the robot controller. Perform
absolute reset while referring to "11.9 Absolute reset" in Chapter 4,
"OPERATION".
Absolute reset is also required after the robot cable was disconnected from
the robot controller and then reconnected.
[4] Setting the maximum speed
When operating a ball screw driven robot, the ball screw’s free length will increase as the
movement stroke increases, and the resonant frequency will drop. This may cause the ball screw
to resonate and vibrate severely depending on the motor rotation speed. (The speed at which
resonance occurs is called the critical speed.)
To prevent this resonance, the maximum speed must be reduced depending on the robot
model when the movement stroke increases. Refer to our robot catalog for the maximum speed
settings.