Yamaha RCX222, Руководство пользователя

Страница: 520 / 524

9-68
Chapter
9
TROUBLESHOOTING
9-69
Symptom Possible cause Check items Corrective action
3 Position deviation
occurred.
• There are 2
main types of
position
deviation.
1.Electrical
position
deviation
2.Mechanical
position
deviation
In case 1, if
position
deviation
occurs, you can
perform
absolute reset
and return to
original
position. In
case 2, you
cannot return
to original
position.
• Position sensor
device is defective.
• Cable is defective.
• Move axis in
emergency stop
and check the pulse
count.
• Replace motor if
count is incorrect.
• Replace cable if
found to be
defective.
• Position detection
error due to noise.
• Check grounding of
robot and controller.
• Check robot
periphery for noise.
• Check for noise
sources around
robot I/O cable.
• Ground the robot
and controller.
• Isolate from noise
sources around
robot.
• Isolate from noise
sources around
robot I/O cable.
• Mechanical error
occurred.
• Check the belt
tension
• Check for warping
or damage on
guides or ball
screws.
• Adjust to correct
tension if
necessary.
• Remove foreign
matter if found.
• Replace guides or
ball screws if
warping or damage
is found.
• Controller is
defective.
• Replace with
another controller
and check
operation.
• If operation is
normal use the
substitute
controller.
2. Troubleshooting