Yamaha YP-X Series, Owner'S Manual

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Before using the “YP-X” series robot
(Be sure to read the following notes.)
At this time, our thanks for your purchase of this YAMAHA “YP-X” series robot.
The “YP-X” series robot use absolute position detectors that do not require return-to-origin
after turning on the controller power. However, when the controller power is turned on in the
following cases, return-to-origin must be performed just the very first time.
(1) When robot cable was first connected after delivery from YAMAHA.
(2) When robot cable was disconnected from the controller and then reconnected.
(3) When no absolute battery is connected.
(4) When a motor or cable was replaced.
At this point, any of the following errors is issued immediately after controller power is turned
on, but
this is not a malfunction . The controller will operate normally by restarting.
When using DRCX or TRCX controllers:
15 : FEEDBACK ERROR 2
23 : ABS.BAT.L-VOLTAGE
24 : ABS.DATA.ERROR
When using a 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
[1] X, Y, Z axes
X, Y, Z axes use the stroke end origin detection method.
Set the origin position while referring to the following section in the robot controller
instruction manual.
When using DRCX or TRCX controllers:
See “9-1-1 Return-to-origin by the search method” in Chapter 9.
When using a QRCX controller:
See “11-9 Absolute Reset” in Chapter 11.
! CAUTION
Changing the origin position may cause a positional shift or robot breakdowns,
and should be avoided. Changing the origin detection method might also create
a dangerous situation and should be avoided. If these must be changed, consult
our sales office or dealer.