Yamaha SRCP - Manual (Page 226)

13-
8
13
TROUBLESHOOTING
13-3 Troubleshooting for Specific Symptom
Items to Check
• Make sure there is no loose parts where
the robot is installed.
• Check whether the motor case is
properly grounded.
• Check that the resistance between the
motor case and the controller's FG
terminal is 1 ohm or less, and also that
the controller is properly grounded.
• Try using another controller if
available.
Action
• Reinstall the robot securely.
• Refer to the robot user's manual.
• If the controller is used near a unit that
generates noise such as welding
machines and electric discharge
machines, move it as far away as
possible. If the entire unit cannot be
moved, then at least move the power
supply away. It might be necessary to
use a noise filter or isolating
transformer depending on the trouble.
• If another controller operates normally,
then the currently used controller is
defective, so replace it.
No.
4
Possible Cause
Robot is not
securely installed.
Robot is at fault.
Malfunction
caused by noise
Controller failure
1)
2)
3)
4)
Symptom
Position
deviation or
offset occurs.
If this occurs,
leave the power
on and perform
return-to-origin.
Depending on
the results of
the return-to-
origin, there are
two possible
causes of the
problem:
• If position
offset is not
corrected by
the return-to-
origin:
Mechanical
offset - See
causes 1) to
2).
• If position
offset is
corrected by
the return-to-
origin:
Electrical
offset - See
causes 3) to
4).
• Connect the TPB and check the robot
type number.
• Check the origin detection method
parameter (PRM13) setting.
• Use the TPB to check whether the
alarm occurs before or after return-to-
origin is complete. If the alarm occurs
after return-to-origin is complete, the
damper position is inappropriate.
• Check the motor wire and position
signal wire connection.
• Check whether the robot setting
displayed on the TPB matches the
robot actually used.
• Check the speed parameter (PRM30).
• When the parameter setting is "1"
(stroke-end detection method),
initialize the parameters.
• When the parameter setting is "0"
(sensor method), set the parameter to
"1".
• Contact our sales office or
representative.
• Correct the connections.
• Try initializing the parameters.
• If they do not match, initialize the
parameters.
• Correct the parameter.
5
6
7
Wrong robot type
number setting
Parameter setting
error
The origin
position is
inappropriate so
the robot slider
makes contact
with the damper
when at the origin.
Motor and/or
position signal are
miswired.
Parameter error
Parameter setting
error
Speed setting was
changed.
1)
2)
3)
1)
2)
1)
2)
During return-
to-origin, the
robot stops due
to alarm after
striking on the
stroke end
(overload).
Robot starts
moving at high
speed when the
power is turned
on.
• The SRCP
controller has
a safety
circuit to
detect wire
breakage, but
check the
points listed
on the right
anyway.
Robot speed is
abnormally fast
or slow.