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Troubleshooting, 3 troubleshooting for specific symptom – Yamaha SRCP User Manual

Page 226

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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.