Yamaha DRCX User Manual download pdf (Page 74)

CHAPTER 5 Installation

5-16

Much mechanical friction?

Are wiring and connector

securely connected?

Is wiring live?

Is motor resistance OK?

Is motor encoder OK?

Is controller hardware OK?

Turn power off and check for friction

by moving manually

Is brake installed?

Securely connect wiring and connector

Replace motor since motor has shorted or burnt out

Is there electrical

discontinuity?

Repair

Are connector pins

securely inserted?

Securely insert pins or repair defective pins

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

(1) Check position shift by repetitive accuracy measurement

(2) If replacement motor is available, check by exchanging the motors

Replace motor

Is external noise large?

Take noise reduction measures

Yes

Feedback error

Any foreign matter

caught inside?

Adjust mechanical alignment

Is 24V supplied to brake?

Replace power supply unit or repair defective parts

Yes

Repair

Yes

Is there electrical

discontinuity?

Is brake sound

heard when turning power

on and off?

Recheck

Are parameters

for controller and

robot OK?

Initialize parameters

(1) If replacement controller is available, check by

exchanging the controllers

Replace motor (with brake)

Yes

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Yamaha DRCX User Manual Page 74

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