Omron YRCX Series, Руководство по эксплуатации

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A
Troubleshooting
A-4
3.2 Robot operation
Symptom Possible cause Check items Corrective action
1 Although the controller
turns on, program and
jog movement cannot be
executed. • Stop signal is in the open
status.
• Check the I/O interface
connector stop signal and
24V-power supply
connections.
• Check DI06 (stop) on the
"MONITOR" screen displayed
on the programming box.
• Connect the power input
terminal correctly.
• Supply the specified power
voltage.
• Replace the controller.
• The controller is now in
emergency stop status.
• Connect the programming box
and check the alarm using self-
diagnosis.
• Check DO00 (Output of
emergency stop input status)
on the "MONITOR" screen
displayed on the programming
box.
• Release the emergency stop
button on the programming
box.
• Connect the PB connector.
• Connect the emergency stop
terminal of the SAFETY
connector.
• An alarm occurred. • Connect the programming box
and check the alarm using self-
diagnosis.
• Check the 7-segment LED display
on the front of the controller.
• Check the cause from the
alarm information.
• Take the corrective action.
2 An abnormal sound or
vibration occurred. • The robot or axis type setting
is incorrect.
• Connect the programming
box and check the robot
settings in SYSTEM mode.
• Check if the robot and
controller are compatible.
• Correct the robot or axis type
setting.
• Make sure the robot and
controller are compatible.
• The tip weight or acceleration
settings is incorrect.
• Check the tip weight
parameter setting in EDIT.
• Check the acceleration
parameter setting in
SYSTEM.
• Check the command setting
of changing the tip weight or
acceleration in program
language.
• Set a correct tip weight
parameter.
• Set a correct acceleration
parameter.
• Make a correct setting in the
program language.
• A mechanical problem
occurred.
• Check for resonance in the
robot frame.
• Check for the loose screws
on robot cover.
• Check for warping or damage
on guides or ball screws.
• Reinforce the robot frame.
• Tighten the robot cover
screws.
• Remove foreign matter if
found.
• Replace guides or ball
screws if warping or damage
is found.
• The controller is defective. • Replace with another controller
and check operation.
• Replace the controller if
operation is normal.
3 A position deviation
occurred.* • The position sensor device is
defective.
• The cable is defective.
• Move the axis in emergency
stop and check the pulse
count.
• Replace the motor if count is
incorrect.
• Replace the cable if found to
be defective.
• A position detection error due
to noise.
• Check grounding of the robot
and controller.
• Check the robot periphery for
noise.
• Check for noise sources
around ROB I/O cable.
• Ground the robot and
controller.
• Isolate from the noise
sources around the robot.
• Isolate from the noise
sources around ROB I/O
cable.
• A mechanical error occurred. • Check the belt tension.
• Check for warping or damage
on the guides or ball screws.
• Adjust to correct tension if
necessary.
• Remove the foreign matter if
found.
• Replace the guides or ball screws
if warping or damage is found.
• The controller is defective. • Replace the controller and
check operation.
• Replace the controller if
operation is normal.
* There are two main types of position deviation.
1. Electrical position deviation 2. Mechanical position deviation
In the case of 1, the robot can move back to the original position by return-to-origin operation after position deviation, which
does not correspond in the case of 2.