Contents
ix
5.1.1.3 Replacing the YPS Unit (JZNC-YPS21-E) .............................................. 5-6
5.1.1.4 Replacing the Machine Safety CPU circuit board (JANCD-YSF21-E) .... 5-7
5.1.1.5 Replacing the Robot I/F circuit board (JZNCD-YIF01-
☐
E) .................... 5-8
5.1.1.6 Replacing the Universal I/O Unit (JANCD-YIO21-E)............................. 5-12
5.1.1.7 Replacing the Power ON Unit (JZRCR-YPU5
⃞
-
Δ
)............................. 5-13
5.1.1.8 Replacing the Brake Circuit Board (JANCD-YBK21-3E)....................... 5-14
5.1.1.9 Replacing the Machine Safety Logic Circuit board
(JANCD-YSF22
☐
-E)........................................................................... 5-16
5.1.2 Replacing the Amplifier Module.......................................................................... 5-17
5.1.3 Replacing the Converter (SRDA-COA30A21B-E) .............................................. 5-20
5.1.4 Replacing the Major Axes Control Circuit Board (SRDA-EAXA21A).................. 5-22
5.1.5 Checking and Replacing Fuses.......................................................................... 5-23
5.1.5.1 Power ON Unit ...................................................................................... 5-23
5.1.5.2 Universal I/O Circuit Board.................................................................... 5-24
5.1.5.3 Machine Safety Logic Circuit Board ...................................................... 5-25
5.1.5.4 Brake Circuit Board ............................................................................... 5-26
5.1.5.5 Major Axes Control Circuit Board .......................................................... 5-27
5.1.6 Interior Circulation Fan ....................................................................................... 5-28
5.1.6.1 Replacing the Interior Circulation Fan ................................................... 5-28
5.1.6.2 Replacing the Backside Duct Fan ......................................................... 5-30
5.1.7 Replacing the Capacitor Module ........................................................................ 5-31
5.2 DX200 Parts List.............................................................................................................. 5-32
5.3 Supplied Parts List........................................................................................................... 5-35
5.4 Recommended Spare Parts ............................................................................................ 5-36
6 Operations After Replacing Parts ................................................................................................... 6-1
6.1 Home Position Calibration ................................................................................................. 6-3
6.1.1 Home Position Calibration .................................................................................... 6-3
6.1.2 Calibrating Operation............................................................................................ 6-4
6.1.2.1 Registering All Axes at One Time ........................................................... 6-4
6.1.2.2 Registering Individual Axes ..................................................................... 6-6
6.1.2.3 Changing the Absolute Data ................................................................... 6-7
6.1.2.4 Clearing Absolute Data ........................................................................... 6-8
6.1.3 Manipulator Home Position .................................................................................. 6-9
6.2 Position Deviation Check Using the Check Program....................................................... 6-10
6.3 Checking of the Check Program...................................................................................... 6-11
6.3.1 Motion of the Check Program............................................................................. 6-11
6.3.2 Checking of the Check Program......................................................................... 6-11
6.3.3 Home Position Data Correction .......................................................................... 6-12
6.4 Setting the Second Home Position (Check Point) .......................................................... 6-13
