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6 -3

6

Alarms

6-3 Troubleshooting

6-3 Troubleshooting

■ Alarms

* For details on alarms, refer to the SRCP controller user's manual.

■ Troubleshooting

Checkpoints

• Connect the TPB, monitor the I/O

information, and check the servo input

on/off operation.

• Check the status LED

• Check the status LED

• Connect the TPB, monitor the I/O

information, and check the PCLR input

on/off operation.

• Connect the TPB, monitor the I/O

information, and check the INH input

on/off operation.

• Connect the TPB, monitor the I/O

information, and check the ORG-S

input on/off operation.

• Connect the TPB and check the alarm

that was issued.

• Check the status LED.

• Connect the TPB, and check the

PRM64 (Input type) and PRM66 (Input

pulse logic).

• After turning on power check that

ORG-S (Return-to-origin input) has

been executed.

• Connect the TPB and check the robot

type and controller version.

• Connect the TPB and check the robot

type and controller version.

Corrective action

• Set servo signal to ON

• Correct the wiring

• Set emergency stop input to ON.

• Correct the wiring

• Set the PCLR signal to OFF.

• Correct the wiring

• Set INH signal to ON.

• Correct the wiring

• Set PRM69 to1and disable INH input.

• Set ORG-S signal to OFF.

• Correct the wiring

• Refer to the SRCP controller user's

manual and troubleshoot that alarm.

• Make setting according to host device

command pulses.

• After turning on power, setup a system

for executing ORG-S.

• Adjust gain manually.

• Initialize the parameter.

• Replace the controller

• Adjust gain manually.

• Initialize the parameter.

• Replace the controller

No.

1

2

3

Possible cause

SERVO (Servo ON

input) is OFF.

In emergency stop

PCLR (Deviation

clear input) is ON.

INH (command pulse

inhibit input) is OFF.

ORG-S (Return-to-

origin input) is ON.

Alarm issued in

controller

Wrong command

pulse setting.

No magnetic pole

detection (SRCP

series only)

Gain is wrong

Robot and controller

don’t match each

other

Gain is wrong

Robot and controller

don’t match each

other

Problem

Robot won’t move

even with pulse input

Robot operation is

unstable

Abnormal sound can

be heard.

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