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Download wWARNING - Yamaha Robotics
Transcript
5-1 If you suspect trouble 5-1-2 Feedback error Feedback error No Any foreign matter caught inside? No Much mechanical friction? Turn power off and check for friction by moving manually Yes No Adjust mechanical alignment Is brake installed? Yes Is brake sound heard when turning power on and off? Yes Recheck No Replace motor (with brake) Repair No Replace power supply unit or repair defective parts Initialize parameters No Yes Is there electrical discontinuity? 5 No Repair Is 24V supplied to brake? Yes Are parameters for controller and robot OK? Yes Is there electrical discontinuity? Are wiring and connector securely connected? No No Securely connect wiring and connector Yes Troubleshooting Are connector pins securely inserted? When feedback error is occurring, perform continuity check (1) Check motor power supply lines U, V and W (2) Check encoder signal lines for phases A and B Is wiring live? No Yes Securely insert pins or repair defective pins Is motor resistance OK? No Replace motor since motor has shorted or burnt out Yes Take noise reduction measures Is motor encoder OK? Yes Yes No 5-2 Is external noise large? Yes Is controller hardware OK? No Replace motor (1) Check position shift by repetitive accuracy measurement (2) If replacement motor is available, check by exchanging the motors (1) If replacement controller is available, check by exchanging the controllers
