Yamaha YP-X Series User Manual download pdf (Page 3)

Before using the “YP-X” series robot

(Be sure to read the following notes.)

At this time, our thanks for your purchase of this YAMAHA “YP-X” series robot.

The “YP-X” series robot use absolute position detectors that do not require return-to-origin

after turning on the controller power. However, when the controller power is turned on in the

following cases, return-to-origin must be performed just the very first time.

(1) When robot cable was first connected after delivery from YAMAHA.

(2) When robot cable was disconnected from the controller and then reconnected.

(3) When no absolute battery is connected.

(4) When a motor or cable was replaced.

At this point, any of the following errors is issued immediately after controller power is turned

on, but this is not a malfunction. The controller will operate normally by restarting.

When using DRCX or TRCX controllers:

15 : FEEDBACK ERROR 2

23 : ABS.BAT.L-VOLTAGE

24 : ABS.DATA.ERROR

When using a QRCX controller:

17.80 : D?.ABS.encoder backup error

17.81 : D?.ABS.encoder battery alarm

17.85 : D?.ABS.encoder system error

17.92 : D?.ABS.cable disconnected

17.93 : D?.ABS.data overflow

17.94 : D?.ABS.Battery degradation

[1] X, Y, Z axes

X, Y, Z axes use the stroke end origin detection method.

Set the origin position while referring to the following section in the robot controller

instruction manual.

When using DRCX or TRCX controllers:

See “9-1-1 Return-to-origin by the search method” in Chapter 9.

When using a QRCX controller:

See “11-9 Absolute Reset” in Chapter 11.

CAUTION

Changing the origin position may cause a positional shift or robot breakdowns,

and should be avoided. Changing the origin detection method might also create

a dangerous situation and should be avoided. If these must be changed, consult

our sales office or dealer.

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Yamaha YP-X Series User Manual Page 3