Yamaha XY-X Series, Owner'S Manual, Page: 65 / 276

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Chapter 3 Preparing the Robot
11 Absolute Reset
Refer to this section and set the origin position before using the robot.
The Cartesian robot XY-X Series uses an absolute method position detector, and
thus return-to-origin is not required when the controller power is turned ON again.
However, the origin position must be set the first time the controller power is
turned ON from any of the following states.
(1) When robot cable is connected for the first time after delivery
(2) When the cable connection between the robot cable and controller has
been disconnected
(3) When the absolute battery is not connected
(4) When the motor or cable is replaced
One of the following errors will appear when the power is turned ON in any of
the above cases, but this is not an error. The robot will operate normally when the
power is turned ON again.
For DRCX or TRCX controller
15: FEEDBACK ERROR 2
23: ABS. BAT. L-VOLTAGE
24: ABS. DATA. ERROR
For QRCX controller
17.80:D?.ABS.Encoder backup error
17.81:D?.ABS.Encoder battery alarm
17.85:D?.ABS.Encoder system error
17.92:D?.ABS.Cable disconnected
17.93:D?.ABS.Data overflow
17.94:D?.ABS.Battery degradation
For RCX40 controller
17.27 : D?.ABS. backup failed (CPU)
17.80 : D?.ABS. backup failed (DRIVER)
17.81 : D?.ABS.battery wire breakage
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
17.94 : D?.ABS.battery low voltage
etc
Note) Question marks (?) in the above error messages indicate the axis num-
bers.
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