A-2
TROUBLESHOOTING
A
TROUBLESHOOTING
A-3
1. Error messages
(2) Dedicated output status
Dedicated output status items described below in *1 to *3 show the following contents.
*1 ... CPU stop
• Turn the power ON again to reset.
DO 01a (CPU OK) = OFF
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
*2 ... Driver stop
• Turn the power ON again to reset.
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
*3 ... Servo stop
• Turn the power ON again in "UTILITY" mode to reset.
DO 02a (SERVO ON) = OFF
DO 03a (ALARM) = ON
(3) “Alarm message” that occurred in electric gripper
When an alarm message of error group No. 26 (Alarm messages (major errors) that occurred in
electrical gripper) appears, the electric gripper enters the following status.
• Origin incomplete
• Servo OFF
To recover from the alarm state, do the following:
1. Eliminate the cause of the alarm.
2. Reset the emergency stop flag.
3. Turn all axes’ servo on.
4. Perform return-to-origin for the electric gripper where the alarm occurred.
For more details, refer to the YAMAHA electric gripper YRG series user’s manual.
Summary of Contents for RCX240
Page 1: ...RCX240 EUR6127206 E107 Ver 2 06 Userʼs Manual YAMAHA 4 AXIS ROBOT CONTROLLER ...
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Page 448: ...5 46 Chapter 5 TWO ROBOT SETTING MEMO ...
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Page 480: ...6 30 Chapter 6 PARALLEL I O INTERFACE MEMO ...
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