Troubleshooting For Specific Symptom; Relating To The Robot Movement - Yamaha ERCX Series User Manual

13-3 Troubleshooting for Specific Symptom

If any problems develop while the controller is being used, check the items below for the appropriate
way to handle them. If the problem cannot be corrected using the steps listed below, please contact
our sales office or sales representative right away.

13-3-1 Relating to the robot movement

No. Symptom Possible Cause
1)
1 Servo of robot Power is not being
does not lock supplied.
even after
power is turned
2) Emergency stop
on.
is activated.
3) The servo is off.
4) An alarm has
occurred.
2 Program does 1) Misprogramming
not run
correctly.
2) A different
program is
selected.
3) The selected
program No. was
switched when the
program was
loaded into the
controller from the
memory card.
3 Origin 1) A parameter
incomplete relating to the
error occurs origin was
even if using a changed.
robot with
absolute
specifications.
2) Feedback error 2
Return-to-origin
or an alarm
is required to
relating to
start robot
absolute control
operation.
occurred.
3) Absolute backup
function is
disabled by
parameter setting.
13-3 Troubleshooting for Specific Symptom
Items to Check
• Check that the status LED on the front
panel of the controller lights up or
flashes.
• If the READY signal of the I/O
connector is off and no alarm has been
issued, an emergency stop is in effect.
• Check whether the status LED is flashing.
• Check whether the servo has been
turned off in the program, and whether
the TPB has been plugged or
unplugged.
• Check whether the status LED is
flashing.
• Connect the TPB and check whether an
alarm is displayed.
• Check whether the status LED is lit in red.
• Run step operations to check whether
the program is correct.
• Reset the program and check whether
the desired program is selected.
• Reset the program and check whether
the desired program is selected.
• Check whether a parameter has been
changed from the TPB or POPCOM or
whether a parameter has been loaded
into the controller from the memory
card or whether parameters have been
initialized.
• Check the cable for electrical
discontinuity or check whether the
absolute battery is sufficiently charged.
• Check whether bit 4 of PRM34 is set to
"1".
Action
• Check the voltage at the power cable
plug. If the voltage is correct, replace
the ERCX controller.
• Check whether the emergency stop
button of the TPB or the I/O emergency
stop input (between EMG1 and EMG2)
is on.
• Turn the servo on with the I/O servo
recovery input or from the TPB
operation.
• Take corrective action according to the
instructions in the alarm message list.
• Correct the program if necessary.
• Change the program to select the
desired program.
• Change the program to select the
desired program.
• If an origin-related parameter has been
changed, perform return-to-origin
again.
• Remove the cause of alarm and then
perform return-to-origin.
• Set bit 4 of PRM34 to "1".
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