Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Second edition
NACHI-FUJIKOSHI Corp.
NACHI-FUJIKOSHI CORP.
JAPAN MAIN OFFICE Phone:(03)5403-0491 Fax:(03)5403-0488 World Trade Center 2-4-1 Hamamatsu-cho, Minato-ku, TOKYO, 105-6125 JAPAN
3 Troubleshooting
3.1 Examples of troubleshooting................................................................................................................3-3
3.1.1 Ex. 1 Some axes unmovable (Manually unmovable) ...............................................................3-3
3.1.2 Ex. 2 Display of teach pendant improper or its keys not effective
(In case of replacing the board UM862 in the teach pendant, for example) .........................3-4
3.1.3 Ex. 3 Displacement between recording point and playback point............................................3-5
3.1.4 Ex. 4 Displacement occurred.
(Despite proper functioning up to a certain time,
a playback position displaces as time passes.) ......................................................................3-6
3.1.5 Ex. 5 Not displayed even primary power breaker is turned ON...............................................3-7
3.1.6 E02 Program check-sum fault .................................................................................................3-8
3.1.7 E10 Servo units are not ready. Turn off and turn on again.......................................................3-9
3.1.8 E12 Accuracy not matched.....................................................................................................3-10
3.1.9 E13 Servo error: No speed command .....................................................................................3-11
3.1.10 E20 Servo error: Abnormal change in command data............................................................3-12
3.1.11 E21 Servo error: Servo following error ..................................................................................3-13
3.1.12 E22 Servo error: Deviation error ............................................................................................3-14
3.1.13 E23 Servo error: EC disconnection
E25 Servo error: Bit jump
E27 Excessive change of encoder data...................................................................................3-15
CONTENTS - 1
CONTENTS
3.1.14 E24 Servo error: CPU error ....................................................................................................3-16
3.1.15 E26 Servo error: Interference .................................................................................................3-17
3.1.16 E28 Servo error: Drive unit voltage down..............................................................................3-18
3.1.17 E29 Servo error: Check sum error in encoder ........................................................................3-19
3.1.18 E30 Servo error: Sensor check error.......................................................................................3-20
3.1.19 E31 Servo error: Motors rotation too fast when power on....................................................3-21
3.1.20 E32 Servo error: Over-current ................................................................................................3-22
3.1.21 E34 The amplifier unit returns no answer ..............................................................................3-23
3.1.22 E35 I/O CPU error ..................................................................................................................3-24
3.1.23 E36 Fuse blown ......................................................................................................................3-25
3.1.24 E38 Servo error: Over-load ....................................................................................................3-26
3.1.25 E39 Servo error: Over-rotation...............................................................................................3-27
3.1.26 E40 The teach pendants CPU error.......................................................................................3-28
3.1.27 E42 Motor temperature fault ..................................................................................................3-29
3.1.28 E44 Overvoltage .....................................................................................................................3-30
3.1.29 E46 Temperature error of regenerative discharge resistance..................................................3-31
3.1.30 E50 Servo error: CTR-OVFE52
E51 Servo error: Data transmission error ..............................................................................3-32
3.1.31 E52 Servo error: Battery discharged......................................................................................3-33
3.1.32 E54 Servo error: Position deviation.......................................................................................3-34
3.1.33 E55 Servo error: Encoder data abnormal...............................................................................3-35
3.1.34 E56 Servo error: Pre-load error .............................................................................................3-36
3.1.35 E57 Servo error: Count status error .......................................................................................3-37
3.1.36 E60 Panel temperature error ...................................................................................................3-38
3.1.37 E61 Tripping of thermal or circuit protector ..........................................................................3-39
3.1.38 E62 MOTORS ON sequence error .........................................................................................3-40
3.1.39 E66 Arm interference LS activated ........................................................................................3-41
3.1.40 E67 The I/O master returns no answer ...................................................................................3-42
3.1.41 E256 Step data reading fault...................................................................................................3-43
3.1.42 E896 Hardware version of amp. Card is not correct...............................................................3-44
3.1.43 E8001 Motors-off sequence fault.
E8002 Input sequence fault.
E8007 System error(memory full). .........................................................................................3-45
3.1.44 E8004 Brake sequence fault....................................................................................................3-46
CONTENTS - 2
CONTENTS
5 Periodic Inspection
5.1 Inspection schedule ...............................................................................................................................5-1
5.2 General cautions for periodic inspection ............................................................................................5-2
5.3 Daily inspection .....................................................................................................................................5-3
5.4 Initial inspection (750H inspection).....................................................................................................5-3
5.5 3-, 6-month & 1-year inspection ..........................................................................................................5-4
5.6 Inspection of long vacation...................................................................................................................5-5
5.7 Cleaning and inspection of fan motor and heat sink..........................................................................5-6
5.8 Maintenance parts list ..........................................................................................................................5-7
CONTENTS - 3
For safety use
... shows a high risk of danger surely causing a fatal condition either dead or serious wound if
DANGER the machine is mishandled or operated wrong, thus requires to pay the maximum attention to
operation and handling.
... shows a medium risk of danger probably causing a fatal condition either dead or serious
WARNING wound if the machine is mishandled or operated wrong, thus requires the maximum attention
to operation and handling.
... shows a low risk of danger probably causing a medium level of damage if the machine is
CAUTION mishandled or operated wrong, thus requires a thorough attention to operation and handling.
9906,EARE-041-002
-1-
It is required to carefully read, understand and conduct the following IMPORTANT PRECAUTIONS prior to actual
operation.
DANGER
Observe the following matters by all means because there exists a danger to people by
overturning or falling of the controller:
Transfer the controller only by operators who are licensed for sling work, crane or
fork lift operation.
Hoist the controller in accordance with the description in this manual.
DANGER
INHIBIT
Conduct maintenance and inspection only by those who completed the ROBOT
SCHOOL (maintenance course) held by Nachi-Fujikoshi Corp.
9906,EARE-041-002
-2-
For safety use
DANGER
Under the cover of this label there exists the primary power voltage (AC200 to
AC480V) which may result in electric shock. In case of operating with the cover
removed, turn off power not only of the controllers breaker but of the distributor.
Controllers front
DANGER
MUST
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-3-
1 Setting of AR52 Controller
1.1 Specifications
Item Specifications
Construction Hermetic box-type
Cooling system Indirect cooling system
Ambient humidity 20 to 85% (Dewing not accepted)
Ambient temperature 0 to 52
Input power source AC400V to 480V10% 50/60Hz
Power consumption Approx. 8.5 kVA (Differs from robot type.)
External size Controller W720H1195D690 (mm)
Weight Approx. 280 Kgf
1.2 Transfer
Only those who are licensed with sling, crane or fork lift operation are permissible for
DANGER transfer operation.
Check the weight of a controller and handle it so as to suit for its weight.
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1-1
Transfer of AR52 Controller
DANGER
The controller weighs about 280 Kgf and check eye bolts located on top of the controller if they are tightly
secured.
Remove items not secured on the top of controller, if any.
Secure the controller firmly so that it may not overturn or slide when using a forklift.
IMPORTANT
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1-2
1 Setting of AR52 Controller
1.3 Installation
Install the controller on a flat place where the following maintenance space can be secured.
Controller
660
105
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1-3
1.4 Connection
Manipulator,
Controller and
Teach pendant.
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1-4
1 Setting of AR52 Controller
Connect the cable connector of teach pendant to a receptacle in the rear of the controller.
TEACH
PENDANT
Connect between the manipulator and the controller with wire-harness cables.
Check the name of a receptacle and key groove and then connect the cable to the cable connector.
Connectors position and number may vary with a robot type and thus this needs to be borne in mind.
Manipulator
CNR1 CNR4
CNR1 CNR4
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1-5
Connection between AR52 and primary power source
An electric shock may occur and thus turn off primary power source and break the circuit
DANGER breaker of the controller.
Connection method
Pull the primary power cable into the controller through the cable inlet.
Open the front door.
Connect the primary power cable to the breaker.
Attach a crimp-type solderless terminal to each cable end.
Close the front door.
Breaker handle
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1-6
1 Setting of AR52 Controller
Connection of earth
Make earthing firmly to the controller to avoid electric shock and noise by using an exclusive earthing wire,
more than 5.5mm2 , wiring as short as possible from an installing position (Class 3 earthing).
Make earthing for peripheral jigs, etc. also to make electric potential the same as that of the controller as
illustrated below. Wiring should be as short as possible because a long wire makes the effect of electric
potential useless. Make earthing in the same manner to peripheral operation panels and conduit tubes.
It is important to keep a certain space where earthing is made in the same electric potential as mush as possible
to avoid electric shock and noise. If a specific device is earth-connected to a far place, an electric potential
differs from other peripherals, resulting in earthing ineffective. This needs to be borne in mind.
Manipulator
Hand Controller
Work
Switch board
Class 3 earthing
or
Manipulator
Hand Controller
Work
Class 3 earthing
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1-7
Other precautions
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1-8
2 Composition of AR52 Controller
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- 2-1 -
2.1 Parts layout of AR52 controller
CPU unit
Sequence board
(UM880)
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- 2-2 -
2 Composition of AR52 Controller
For AR52, the block diagram is shown in Fig. 2.2.1 & Fig. 2.2.2 and the function of each part is listed in Table
2.2.1.
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- 2-3 -
Fig. 2.2.2 AR52 controller block diagram (UM860 specification)
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- 2-4 -
2 Composition of AR52 Controller
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- 2-5 -
2.3 Functions of each unit
Connector
CNCRT
Connector for LCD display of the teach pendant
CNRS
Connector for general-purpose serial communication and the teach pendant
CNDCA
Connector for digital cassette I/F
CNFD
Connector for floppy disk I/F
CNP12
12V power connector for digital cassette I/F
CNBAT
Battery connector for CMOS memory backup
CNR
Connector with the flash ROM board UM871
LED
CPE
Lighting up when CPU stops (Red)
POW
Lighting on normally (Green)
LOWBAT
Lighting up when the battery voltage of CNBAT lowers. (Red)
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- 2-6 -
2 Composition of AR52 Controller
CNCRT
CNR
J1
CNRS J2
J3 CNBH
J4
J5
J8
DIPSW
POW
CPE J7
J9
LOWBAT
CNP12 J6
CNDCA
CNBL
CNFD
CNJ
CNBAT
Battery
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- 2-7 -
2.3.2 Flash ROM board (UM871)
UM871 is a flash ROM board for the system program, having I/F for IC card.
Connector
CNCARD
This is an I/F connector for IC card.
* Be careful about a slot in the IC card when inserted.
CNR
This is a connector with main CPU board UM870.
JJJJ
1P
P 2P
4P 3
C CNR
N
IC card C
A
R
D
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- 2-8 -
2 Composition of AR52 Controller
Connector
CNIN1
Connector for input signal used in the panel
CNIN2, CNIN3
Connector for interlock input signal with external I/O
CNOT1
Connector for output signal used in the panel
CNOT2, CNOT3
Connector for interlock output signal with external I/O
(*) Refer to AR Controller Operation Manual for positions and connection of connector pins.
UM803
UM080
CNOT1
CNIN1
CNOT2
CNIN2
CNIN3
CNOT3
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- 2-9 -
2.3.4 Sequence board (UM880)
UM880 is provided with operation panel I/O, panel sequential circuit and so forth.
Connector
CNOP
Connector with the operation panel
CNEX
Connector for sequence in the panel
CNS
Connector with drive unit
CNSQ
Connector with I/O board UM803/UM080
CNTB
Connector for external emergency stop, safety plug and external motors ON
CNP
Connector to supply +24, +12 and +5V
CNA
Connector to input AC100V for sequence
LED
LED1
LED lights up when encoder power is turned ON. (Red)
CNFV
JP8 CNTB
JP6
JP1
JP2
JP7
CNS
LED1
CNSQ
JP5
JP4
CNEX JP3
CNOP
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- 2-10 -
2 Composition of AR52 Controller
Specifications
No. of port 2 for input and 3 for output
Input -10V to +10V (4096 steps)
Output -12V to +12V (1024 steps)
Connector
CNEX Connector for analog output signal.
(MR16LF by HONDA TSUSHIN KOGYO CO. LTD. (attached at the time of delivery) is used.)
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- 2-11 -
Board circuit
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- 2-12 -
2 Composition of AR52 Controller
+15V
CH1 output
Common
-15V
IH6208 CH1 + input
-15V
+15V
CH1 - input
-15V
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- 2-13 -
2.3.6 RIO I/F board(UM858)
This function is able to communicate discrete inputs and outputs directly via bus-line with "NA-Chi
p" which is manufactured by ALLEN BRADLEY.
Connector
TB-NA
Connector communicator with external equipment.
Connection of communication
To connect with RIO-Scanner or another robot controller, please use
twisted-pair shield wires 1770-CD (ALLEN BRADLEY) and connec
t it into terminal-block TB-NA on UM858.
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- 2-14 -
2 Composition of AR52 Controller
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- 2-15 -
2.3.7 I/O master board (UM873)
Connector
(1) CNRS: Connector for general-purpose serial communication(RS232C)
(2) CNPT: Connector for general-purpose serial communication(RS422)
(3) CNIO: Not used
(4) CNBAT: Battery connector for CMOS memory backup
(5) CNCARD: An I/F connector for IC card
* Be careful about a slot in the IC card when inserted.
Internal PC program is initialized by dip switch 1 Off at the time of power source on.
Please turn Internal PC use into ON.
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- 2-16 -
2 Composition of AR52 Controller
Jumper setting
J1J25: RS422 setting
UM873-10 UM873-20
RS422 setting Without Half duplex
RS422 asynchronous
J2J7
J11J17
J1
J8
J9
J10
J18
J19
J20
J21
J22
J23
J24
J25
: short circuit : open
UM873-10 does not have RS422. By UM873-10, J1J25 is the open.
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- 2-17 -
J107J109: serial interface
Setting Valid (standard) No valid
J107, J108, J109
LED
Contents
LED1 CPU error of UM873
LED2 Battery error of UM873
LED11 Serial interface error of UM873
fig.2.3.11 UM873
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- 2-18 -
2 Composition of AR52 Controller
Specification
No. Item Specification contents
Stand- Output mark AC100VAC120V32 points
ard set (1,2 DC24V 16 points(For system control of
UM board total) robot regulator usage)
887
1 AC100VAC120V32 points
2 Input mark DC24V 12 points
(1,2 +4 points (Fixed area for user
board total) outside stopping)
+24 points (For system control of
robot regulator usage)
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- 2-19 -
Setup
Setup of connector is like draft plan. rack and there is not question.
UM104 UM104
Fig.2.3.12 UM887-1,UM887-2
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- 2-20 -
2 Composition of AR52 Controller
UM887-2
TBO1-2 TBO2-2 TBI1-2 TBI2-2
Plug Socket Plug Socket Plug Socket Plug Socket
1 1 1 1
2 2 2 2
3 3 3 3
4 4 4 4
5 5 5 5
6 6 6 6
7 7 7 7
8 8 8 8
CM CM CM CM
Plug
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- 2-21 -
Table 2.3.2
Built-in PC-1 Input-and-output terminal sequencing table-1 (UM887-1)
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- 2-22 -
2 Composition of AR52 Controller
Table 2.3.3
Built-in PC-1 Input-and-output terminal sequencing table-2 (UM887-1)
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- 2-23 -
Table 2.3.4
Built-in PC-2 Input-and-output terminal sequencing table-3 (UM887-2)
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- 2-24 -
2 Composition of AR52 Controller
Table 2.3.5
Built-in PC-2 Input-and-output terminal sequencing table-4 (UM887-2)
9906,EARE-041-002
- 2-25 -
2.3.9 Servo amp board (UM860)
UM860 is a servo amp CPU board for 7 motor axes, and the servo amp block diagram is shown in Fig. 2.3.15.
Connector
CNEC
Connector to connect with encoder
CNBS
Connector to connect with drive unit
LED
LED1 Lighting when the master CPU1 is at CPU stop.
LED2 Lighting when the master CPU2 is at CPU stop.
LED3 Lighting when No.1 axis CPU is at CPU stop.
LED4 Lighting when No.2 axis CPU is at CPU stop.
LED5 Lighting when No.3 axis CPU is at CPU stop.
LED6 Lighting when No.4 axis CPU is at CPU stop.
LED7 Lighting when No.5 axis CPU is at CPU stop.
LED8 Lighting when No.6 axis CPU is at CPU stop.
LED9 Lighting when No.7 axis CPU is at CPU stop.
J1: OPEN
J2: SHORT
#1 #2
J9: SHORT OPEN
J10: SHORT OPEN
J11: OPEN SHORT
No.6 No.7
J12: OPEN SHORT To drive unit axis axis
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- 2-26 -
2 Composition of AR52 Controller
Position
command Servo Current amp. Gate
Motor
PWM control drive
Current feedback
Encoder
A-phase, B-phase
Encoder signal
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- 2-27 -
2.3.10 Motion controller board (UM883/UM884)
UM883 is a servo amp CPU board for 6 motor axes.
UM884 is a DSP board for interpolation operation and mounted on UM883.
UM883 and UM884 together are referred to as a motion controller board.
The motion controller block diagram is illustrated in Fig. 2.3.17.
Connector (UM883)
CNEC
Connector to connect with the encoder.
CNBS
Connector to connect with the drive unit.
CNDSP1
Connector to connect with the DSP board UM884 for interpolation operation.
CNDSP2
Connector to connect with the board UM885 for added axes (No. 7 and 8 axes).
Connector (UM884)
CNDSP1
Connector to connect with the servo amp CPU board UM883.
LED (UM883)
LED1 Lighting up when No.1 axis CPU is at CPU stop.
LED2 Lighting up when No.2 axis CPU is at CPU stop.
LED3 Lighting up when No.3 axis CPU is at CPU stop.
LED4 Lighting up when No.4 axis CPU is at CPU stop.
LED5 Lighting up when No.5 axis CPU is at CPU stop.
LED6 Lighting up when No.6 axis CPU is at CPU stop.
CT4
CT3
Standard setting of jumper (UM884) CT2 J8
To manipulator J7
No. of control axis CNEC1 UM884
J1: LED6 J1
CT1 J2
J2: M0
LED1
J3
J3: To manipulator
(: SHORT : OPEN) CNEC2
CNDSP1
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- 2-28 -
2 Composition of AR52 Controller
Target
data Creating locus Servo Current amp. Gate
Motor
Accel. control loop PWM control drive
UM883
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- 2-29 -
2.3.11 Board rack
There are 12 slots in the board rack, one slot among which is exclusively used for composite power SR1, and
other 11 slots are all the same in signal pin layout and thus boards can be operated whichever slot the board is put
in.
However, do not change the slot in which the board is inserted from the status of delivery because there may
invite poor wiring connection.
9906,EARE-041-002
- 2-30 -
2 Composition of AR52 Controller
Connector
CNBS1, CNBS2
Connector with servo amp board UM860 or motion controller board UM883/UM884
CNV
Connector with sequence board UM880
CNP1 (No. 1 axis) to CNP6 (No. 6 axis)
Connector to feed power to motors
CNRST
Connector to feed power to drive unit
CNPRB
Connector for drive unit power control
CNR
Connector for regenerative discharge resistor
CNPB
Connector for brake power feeding
CNSR
Connector with sequence board UM880
CNBK1
Connector for brake
LED
Refer to Fig. 2.3.20.
Use care that the arms may fall when the brake release switch is operated.
DANGER
Regenerative
discharge resistor
UM881
Drive unit varies with a robot Current
and hence make sure of the type detector
3-phase, 200V Motor
indicated on the right side of a
drive unit when replacing.
Brake
History of drive unit versions (All are compatible with each other.)
RAX**
RAX**A Three-phases of pre-charge circuit Compatibility with controller
1997.3~ drive units for overseas
RAX**B Overheat detection function added Function shown the left added.
1997.5~ to drive unit
RAX**C Inner power wiring route changed Function remains unchanged.
1997.6~
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- 2-32 -
2 Composition of AR52 Controller
J1: OPEN
J2: OPEN
J3: OPEN
J4: OPEN (For effective to save LCD energy)
J5: SHORT
J6: SHORT
J7: SHORT
J8: OPEN
J9: SHORT
J10: SHORT
J11: OPEN
J12: SHORT
LCD
RS232C connector
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- 2-33 -
2.3.15 FDD
FDD of AR52 controller has functions following that recording and saving of programs and constant files.
T1
YD-702D-6539D
YD-702D-6639D
T2 DS0
DS1
RY
DC IF
DC2
H4
H2
Short Open
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- 2-34 -
2 Composition of AR52 Controller
FDD
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- 2-35 -
3 Troubleshooting
3 Troubleshooting
The AR52 controller was designed placing greatest emphasis on high precision and reliability, and that troubleshooting
and recovery can be easily made when error occurs. Please read and understand this manual thoroughly so that it can be
used to perform efficient troubleshooting.
3 Troubleshooting .........................................................................................................................................................3-1
3.1 Examples of troubleshooting...............................................................................................................................3-3
3.1.1 Ex. 1 Some axes immovable. (Manually immovable)..........................................................................3-3
3.1.2 Ex. 2 Display of teach pendant improper or its keys not effective.
(In case of replacing the board UM862 in the teach pendant, for example) ..................................3-4
3.1.3 Ex. 3 Displacement between recording point and playback point........................................................3-5
3.1.4 Ex. 4 Displacement occurred.
(Despite proper functioning up to a certain time, a playback position
displaces as time passes.) ......................................................................................................................3-6
3.1.5 Ex. 5 Not displayed even primary power breaker is turned ON...........................................................3-7
3.1.6 E02 Program check-sum fault. .............................................................................................................3-8
3.1.7 E10 Servo units are not ready. Turn off and turn on again...................................................................3-9
3.1.8 E12 Accuracy not matched.................................................................................................................3-10
3.1.9 E13 Servo error: No speed command.................................................................................................3-11
3.1.10 E20 Servo error: Abnormal change in command data........................................................................3-12
3.1.11 E21 Servo error: Servo following error..............................................................................................3-13
3.1.12 E22 Servo error: Deviation error........................................................................................................3-14
3.1.13 E23 Servo error: Encoder cable broken.
E25 Servo error: Bit jump.
E27 Servo error: Encoder data changed too mach. ............................................................................3-15
3.1.14 E24 Servo error: CPU error................................................................................................................3-16
3.1.15 E26 Servo error: Interference .............................................................................................................3-17
3.1.16 E28 Servo error: Drive unit voltage down..........................................................................................3-18
3.1.17 E29 Servo error: Check sum error in encoder. ...................................................................................3-19
3.1.18 E30 Servo error: Sensor check error. .................................................................................................3-20
3.1.19 E31 Servo error: Motors rotation too fast when power on................................................................3-21
3.1.20 E32 Servo error: Over-current............................................................................................................3-22
3.1.21 E34 The amplifier unit returns no answer. .........................................................................................3-23
3.1.22 E35 I/O CPU error..............................................................................................................................3-24
3.1.23 E36 Servo error: Fuse blown..............................................................................................................3-25
3.1.24 E38 Servo error: Over-load ................................................................................................................3-26
3.1.25 E39 Servo error: Over-rotation...........................................................................................................3-27
3.1.26 E40 The teach pendants CPU error...................................................................................................3-28
3.1.27 E42 Motor temperature fault. .............................................................................................................3-29
3.1.28 E44 Over-voltage found in drive unit, or heat sink exceeded temp. limit. .........................................3-30
3.1.29 E46 The discharge resistance exceeded temperature limit. ................................................................3-31
3.1.30 E50 Servo error: CTR-OVF.
E51 Servo error: Data transmission error. .........................................................................................3-32
3.1.31 E52 Servo error: Battery discharged. ................................................................................................3-33
3.1.32 E54 Servo error: Position deviation. .................................................................................................3-34
3.1.33 E55 Servo error: Encoder data abnormal. .........................................................................................3-35
3.1.34 E56 Servo error: Pre-load error. ........................................................................................................3-36
3.1.35 E57 Servo error: Count status error...................................................................................................3-37
3.1.36 E60 Controller temperature fault........................................................................................................3-38
3.1.37 E61 Thermal relay or circuit protector tripped. ..................................................................................3-39
3.1.38 E62 MOTORS-ON sequence fault. ....................................................................................................3-40
3.1.39 E66 Arm interference limit switch was activated...............................................................................3-41
3.1.40 E67 The I/O master returns no answer. ..............................................................................................3-42
3-1 9906,EARE-041-002
3.1.41 E256 Step data reading fault. ............................................................................................................. 3-43
3.1.42 E896 Hardware version of amp. card is not correct. .......................................................................... 3-44
3.1.43 E8001 Motors-off sequence fault.
E8002 Input sequence fault.
E8007 System error(memory full). .................................................................................................... 3-45
3.1.44 E8004 Brake sequence fault............................................................................................................... 3-46
3-2 9906,EARE-0041-002
3 Troubleshooting
No
Service(PF1)MonitorEach axis data 1
Monitor axis data using
monitor function. Refer to AR Controller Operation Manual for
details.
No
UM883/UM884 or UM860
3-3 9906,EARE-041-002
3.1.2 Ex. 2 Display of teach pendant improper or its keys not effective.
(After replacing board UM862 in the teach pendant, for example)
Yes
No
UM870
3-4 9906,EARE-0041-002
3 Troubleshooting
3.1.3 Ex. 3 Discrepancy between recorded point and actual playback point.
No
No
3-5 9906,EARE-041-002
3.1.4 Ex. 4 Position displacement. (Despite initial error free playback,
actual playback position displaces as time passes.)
No
No
3-6 9906,EARE-0041-002
3 Troubleshooting
3.1.5 Ex. 5 Nothing displayed when primary power breaker is turned ON.
No
No
CP7
F1 & F2
3-7 9906,EARE-041-002
3.1.6 E02 Program check-sum fault.
Yes
Properly connect the battery, then format
the memory.
No
No
3-8 9906,EARE-0041-002
3 Troubleshooting
3.1.7 E10 Servo units were not ready. Turn controller off then on again.
This error occurs when the servo amp. board is not properly prepared when po
E10 occurred wer is turned ON.
Yes
Yes
3-9 9906,EARE-041-002
3.1.8 E12 Accuracy not matched.
No
Did this error occur after Yes Check the controller was formatted with
formatting?
the correct robot type.
No
Is supply voltage of switching regulator Adjust the switching regulator SR2 volume pot on the
SR2 for encoder power correct? No power supply unit to the correct value.
(Refer to Robot Manipulator If it cant be adjusted then replace SR2.
Maintenance manual)
Yes
Yes
SR2
3-10 9906,EARE-0041-002
3 Troubleshooting
No
SR2
3-11 9906,EARE-041-002
3.1.10 E20 Servo error: Abnormal change in command data.
No
No
UM870
3-12 9906,EARE-0041-002
3 Troubleshooting
No
No
No
UM880
Drive unit
3-13 9906,EARE-041-002
3.1.12 E22 Servo error: Deviation error
No
Does the tool load exceed rating? Yes Reduce load to within rating.
No
3-14 9906,EARE-0041-002
3 Troubleshooting
Yes
Yes
Yes
Refer to Robot Manipulator
UM883/UM884 (or UM860) or encoder Maintenance service manual.
may be defective. Replace it/them.
UM883/UM884 or UM860
SR2
3-15 9906,EARE-041-002
3.1.14 E24 Servo error: CPU error
No
UM883/UM884 or UM860
3-16 9906,EARE-0041-002
3 Troubleshooting
No
Yes
Yes
3-17 9906,EARE-041-002
3.1.16 E28 Servo error: Drive unit voltage down.
Yes
Yes
Yes
No
SR1
Yes
Drive unit
UM883/UM884 (or UM860) may be
defective.
Yes
3-18 9906,EARE-0041-002
3 Troubleshooting
Is the switching regulator SR2 voltage No Adjust the SR2 voltage on power supply unit.
E29 occurred within rating? If it cant be adjusted, replace it.
Yes
No
No
No
SR2
Power supply unit
3-19 9906,EARE-041-002
3.1.18 E30 Servo error: Sensor check error.
Is the switching regulator SR2 voltage No Adjust the SR2 voltage on power supply unit.
E30 occurred If it cant be adjusted, replace it.
within rating?
Yes
No
No
SR2
3-20 9906,EARE-0041-002
3 Troubleshooting
3.1.19 E31 Servo error: Motor rotation too fast when power on.
Is the switching regulator SR2 voltage No Adjust the SR2 voltage on power supply unit.
E31 occurred If it cant be adjusted, replace power supply unit.
within rating?
Yes
No
No
SR2
3-21 9906,EARE-041-002
3.1.20 E32 Servo error: Over-current
Is connector short-circuited
between U-V, V-W or W-U? Remove motor Canon plug. No
Yes
Or is CNR pin P, DR & U, V, W Are any pins on motor
short-circuited? connector short-circuited?
No Yes
UM883/UM884 or UM860
Drive unit
3-22 9906,EARE-0041-002
3 Troubleshooting
Yes
Yes
UM883/UM884 or UM860
3-23 9906,EARE-041-002
3.1.22 E35 I/O CPU error.
Is the CPU chip on I/O master PCB UM873 No Push CPU chip into the socket of
E35 occurred inserted correctly into the socket? the I/O master PCB UM873.
Yes
No
UM873
3-24 9906,EARE-0041-002
3 Troubleshooting
Is connector short-circuited
between U-V, V-W or W-U? Yes Remove motor Canon plug. No
Or is CNR pin P, DR & U, V, W Are any pins on motor
short-circuited? connector short-circuited?
No Yes
UM883/UM884 or UM860
Drive unit
3-25 9906,EARE-041-002
3.1.24 E38 Servo error: Over-load
Yes
No
In MOTORS OFF state, can the Drive unit or motion control PCB
Yes UM883/UM884 (or servo amp PCB
brake be released using the brake
release SW on the drive unit? UM860) might be defective. Replace it.
Yes
Yes
Motor is defective.
Replace it.
3-26 9906,EARE-0041-002
3 Troubleshooting
Yes
Yes
UM883/UM884 or UM860
Drive unit
3-27 9906,EARE-041-002
3.1.26 E40 Teach pendant CPU error.
No
3-28 9906,EARE-0041-002
3 Troubleshooting
No
E42 occurred Is wiring to thermostat of motor OK? Replace wiring.
Yes
Yes
Yes
No
In MOTORS OFF state, can the Drive unit or motion control PCB
Yes
brake be released using the UM883/UM884 (or servo amp PCB
brake release SW on the drive UM860) might be defective. Replace it.
No
Yes
Yes
Motor is defective.
Replace it.
3-29 9906,EARE-041-002
3.1.28 E44 Over-voltage found in drive unit, or heat sink exceeded temp. limit.
Yes
No
No
Yes
Can noise be heard when Yes Locate and rectify noise problem.
manually operating robot?
No
Regenerative
Drive unit might be defective. discharge resistor
Replace it.
DSR10
UM880
3-30 9906,EARE-0041-002
3 Troubleshooting
No
Yes
Yes
Yes
Yes
Regenerative
discharge resistor Power supply unit
DSR10
3-31 9906,EARE-041-002
3.1.30 E50 Servo error: CTR-OVF.
E51 Servo error: Data transmission error.
No
No Is encoder power SR2
voltage correct?
Yes
Does the axis in error change? Yes The encoder may be defective.
Replace the motor.
UM883/UM884 or UM860
No
SR2
3-32 9906,EARE-0041-002
3 Troubleshooting
No
Reconfirm battery voltage. No Replace battery again and perform encoder reset
Is voltage 3.2 - 3.6V? once more.
Yes
Yes
No
3-33 9906,EARE-041-002
3.1.32 E54 Servo error: Position deviation.
No
E54 occurred Is there voltage at SR2output P5E-M5E?
No
No Is the output voltage 5.2 - 5.4 V?
Yes
No
3-34 9906,EARE-0041-002
3 Troubleshooting
No
No
3-35 9906,EARE-041-002
3.1.34 E56 Servo error: Pre-load error.
No
Yes
Is connector CNBK on UM886 No Make good connection.
on drive unit connected well?
Yes
When brake is released does No
present position on the monitor
change?
Note: Preloading
Preloading is an automatic controller function that enables the encoder mode to
change from 32 pulse/rev to 2048 pulse/rev. In order for the mode to change the
motor must slightly turn so the encoder is at one of the 32 pulse intervals.
Preloading is performed the first time MOTORS ON is pushed after the controller
power has been turned on.
Error occurs when the motor can not turn in order to align with one of the 32 pulse
intervals.
3-36 9906,EARE-0041-002
3 Troubleshooting
No
3-37 9906,EARE-041-002
3.1.36 E60 Controller temperature fault.
Yes
Yes
Yes
Heat exchanger
3-38 9906,EARE-0041-002
3 Troubleshooting
E61 occurred Has the circuit protector Yes Reset circuit breaker.
been tripped? (See note)
No
No
Note) CP1, 4, 6, 7, OL1
Contact NACHI Service Department.
3-39 9906,EARE-041-002
3.1.38 E62 MOTORS-ON sequence fault.
Yes
Are relays CRD4, CRD10 No Seat relay firmly.
disconnected?
Yes
Replace UM880.
Yes
Is wiring between UM880 CNA pin No. 6 No Repair faulty wiring.
and CNPRB pin A2 OK?
Yes
Yes
Top view of power supply unit
UM803 (or UM887) may be
defective. Replace it.
Electromagnetic SW
(MSHP)
3-40 9906,EARE-0041-002
3 Troubleshooting
No
Yes
Yes
Yes
Yes
Yes
3-41 9906,EARE-041-002
3.1.40 E67 The I/O master returns no answer.
Yes
Yes
UM873
3-42 9906,EARE-0041-002
3 Troubleshooting
UM870
3-43 9906,EARE-041-002
3.1.42 E896 Hardware version of amp. Card is not correct.
Was servo amp PCB UM860 Yes The UM860 version is incompatible.
E896 occurred exchanged? Replace with compatible version.
No
UM860
SC-F series uses servo amp PCB UM860-30.
This error occurs when attempting to install UM860-10.
3-44 9906,EARE-0041-002
3 Troubleshooting
3-45 9906,EARE-041-002
3.1.44 E8004 Brake sequence fault.
Was the emergency stop button pushed Yes Not a controller error.
E8004 occurred or an external stop signal given? Reset the error.
No
No
No
No UM883/UM884 or UM860
UM880
Top view of power supply unit
Electromagnetic SW
(MSHP)
3-46 9906,EARE-0041-002
4 Parts replacement & Adjustment
4-1 9906,EARE-041-002
DANGER
INHIBIT
Replacement can only be made by those who completed the Robot School
(maintenance course) held by Nachi-Fujikoshi.
MUST
INHIBIT
There are lots of connectors in each PCB and hence extreme care should
be taken not to make connection mistaken or missing.
IMPORTANT
4-2 9906,EARE-041-002
4 Parts replacement & Adjustment
Removing
Remove the connector fixed to PCB, the connectors CNBC and CNP.
Connectors CNBC and CNP are located between CPU unit and the bottom plate.
Remove 2 machine screws fixing CPU unit.
Pull out CPU unit.
CPU unit (Machine screws)
Fitting
4-3 9906,EARE-041-002
4.1.2 Replacement of drive unit
Removing
Fitting
4-4 9906,EARE-041-002
4 Parts replacement & Adjustment
Press Press
4-5 9906,EARE-041-002
(1) Replacement of PCB in board rack
Removing
Loosen machine screws which are fixing Slide the supporter itself to the left so as to pull it
supporters up and down of the board rack. out.
Remove the connector attached to the PCB. Pull out the inside of card puller attached to the
PCB with fingers outward of the rack.
Fitting
4-6 9906,EARE-041-002
4 Parts replacement & Adjustment
Lithium battery is used for CMOS memory in the controller. Replace it once every two years with primary power
ON.
Removing
Remove the board for position detection power supply in front left upper of power circuit unit.
Remove the position detection power supply from the board.
Remove wiring from the terminal board of position detection power supply.
Fitting
4-7 9906,EARE-041-002
4.1.6 Replacement of composite power unit on the board rack
Removing
Remove the terminal block cover of Remove all terminal block wirings of
composite power unit. composite power unit.
Remove 4 machine screws fixing the power Pull it back to remove from the rack.
unit to the board rack.
Fitting
Insert the composite power unit into the rightmost guide rail in the board rack.
Do in the opposite order of removing.
4-8 9906,EARE-041-002
4 Parts replacement & Adjustment
4.2 Adjustment
It is normally unnecessary to adjust AR52 controller with the exception of partial adjustment when parts are replaced.
Adjustment positions and adjustment practices are described below. Do not touch adjustment positions unless
otherwise necessary and do not make adjustment until the cause is clarified.
Measure a voltage of each power when a trouble occurred in the power system or the power unit is replaced, and
make adjustment of those which are out of reference values.
(Use a digital voltmeter for measurement.)
Note 1) The composite power unit should be replaced if a voltage measured is not within the reference value.
Note 2) Measure the terminal block & between connector pins nearest to the robot encoder.
Refer to Manipulator Maintenance Manual.
Note 3) Refer to the following pages for transformers tap change.
4-9 9906,EARE-041-002
4.2.2 Transformers tap change
How to change
Note) Change the transformer tap only on the primary terminal side,
but not on the secondary terminal side.
4-10 9906,EARE-041-002
4 Parts replacement & Adjustment
4-11 9906,EARE-041-002
5 Periodic Inspection
5 Periodic Inspection
Periodic inspection of NACHI Robot is necessary to minimize trouble occurrence and maintain it performance long.
Cautions and work content when making the periodic inspection are described below.
9906,EARE-0041-002
5-1
5.1 Inspection schedule
1-year 1-year
inspection inspection
Inspection should be made only by those who completed the Robot School (maintenance course) held by
Nachi-Fujikoshi.
Check parts, tools and drawings necessary for work prior to inspection.
Be sure to use specific parts designated by Nachi-Fujikoshi for replacement.
Be sure to turn off power first when making inspection of the manipulator.
Be sure to turn off primary power first prior to opening the controllers window, and use extreme care not to
make dust come inside from surrounding.
Do not touch parts of the control panel with oily hand. Remove oil and so forth thoroughly from hand in
advance. Those who make inspection are cautioned that, when touching PCBs and connectors in particular, IC
parts may not be damaged by electrostatic discharge, for example.
Never enter the operating range of a manipulator in inspection while operating it.
Measure a voltage at a designated place and pay much attention to electric shock and short-circuited wiring.
Do not inspect the manipulator and the control panel at the same time.
Before starting normal running, be sure to confirm the manipulators operation in idling after inspection.
9906,EARE-0041-002
5-2
5 Periodic Inspection
9906,EARE-0041-002
5-3
5.5 3-, 6-month & 1-year inspection
Period
No. 3 6 1 Check item Method Remarks
M M Y
Doors packing & Deformation of clearance &
1 locking key packing
Function of key
Rear panel Cleaning & rotation of heat
exchangers cooling fan
2
Fouling & cleaning of regenerative
resistor
Wireharness Check clearance & connectors
3 looseness. Retighten them, if
necessary.
Drive unit Check if terminal block of drive
unit and its connectors are loosened
4
or damaged. Retighten if
necessary.
Terminal block Visually check if machine screws
5 are missing or loosened. Retighten
if necessary.
6 Board connectors Check if it is loosened with hand.
Operating part Visually check if push-buttons
display well and also they are
7
cleaned.
Cleaning of operating seat
Entire panel Visually check if there is much dust
8 & fouling.
Cleaning of fouling
Voltage Primary supply voltage Spec. voltage10%
measurement R4-S4-T4 AC200V10%
B4-C4 (Control power in panel) AC100V10%
P5-M0 DC5V+0.1V-0V
9 P15-M0 DC15V0.1V
N15-M0 DC-15V0.1V
P12-M0 DC12V0.1V
P5E-M5E Note 1) DC5.1V0.1V
P1-M1 DC24V0.2V
Transformer room Check if there exist heat generated,
10
noise or smell visually & feeling.
Earth Check if there exists looseness and
11
defect.
12 Relay Visually check fouling & defect.
Battery Check voltage of lithium battery
13
and make periodic inspection.
Teach pendant Visually check fouling & damage.
Retighten, if necessary.
14
Cleaning of operating seat and
confirmation of display
Note1) Voltage of P5E~M5E is DC5.1V0.1V on the manipulator side, and that inside the controller is about
5.4V depending on the specifications.
9906,EARE-0041-002
5-4
5 Periodic Inspection
In case of a long vacation, check the following matters prior to turning power off.
9906,EARE-0041-002
5-5
5.7 Cleaning and inspection of fan motor and heat sink
Execute cleaning of a fan motor and a heat sink to improve a cooling effect of the controller on the basis of every
3 months depending on environment and conditions.
However, when the controller stops with Error 44 (Over-voltage of drive unit or over-temperature of heat sink),
execute cleaning immediately.
(This applies to and after the system software version ARV21.087.)
Cleaning method
FM3 FM4
(Rear view)
9906,EARE-0041-002
5-6
5 Periodic Inspection
Recommendable parts are divided into 2 types, A & B in view of their service life and operation frequency.
Maintenance parts A
Major maintenance parts recommendable to prepare for daily maintenance and inspection:
A-1 Standard attachment spare parts
A-2 Important backup parts
A-3 Periodic replacement parts
Maintenance parts B
Maintenance parts recommendable to prepare when purchasing plural number of robot:
B-1 Maintenance parts recommendable to purchase from Nachi-Fujikoshi
B-2 Parts which can be purchased directly from makers
A-2 and A-3 are minimum & essentially required parts to maintain normal operation and thus it is
recommendable to purchase one set.
In addition, PCBs are provided with high performance parts and thus pay attention to the following in
maintenance:
9906,EARE-0041-002
5-7
Maintenance parts A-1 (Standard attachment spare parts)
No Part name Type Maker Recomd No. Remarks
1 Connector MR-25LM Honda Comm. 1 CNIN2(UM803)
2 Connector MR-34LM Honda Comm. 1 CNIN3(UM803)
3 Connector MR-34LF Honda Comm. 2 CNOT2,3(UM080)
4 Fuse element GP150 Daito Comm. 2
Maintenance parts A-2 (Important backup parts)
No Part name Type Maker Recomd No. Remarks
RAX11-10(for
Drive unit varies with the robot type.
1 Drive unit SA,SG) Fujikoshi 1
Check a type on the right side of the drive unit.
RAX13-10(for SC)
Type 10M represents the 10 meter long cable.
2 Teach pendant ROP501-10M Fujikoshi 1
Two specifications; Japanese and English, are available.
Controllers type (Indicated on
the upper right of front door) Print board configuration
varies with the controllers
AR52-02 AR52-07 type.
5-8
AR52-03
3 PCB (CPU) UM870-20 Fujikoshi 1
4 PCB (ROM) UM871-20 Fujikoshi 1
UM873-10 Fujikoshi 1
5 PCB (I/O Master)
UM873-20 Fujikoshi 1 Option board
UM860-30 Fujikoshi 1
6 PCB (Servo Control) UM883-10 Fujikoshi 1
UM884-10 Fujikoshi 1
UM803-30 Fujikoshi 1
UM080-10 Fujikoshi 1
7 PCB (I/O Interface)
UM887-10,-20 Fujikoshi 2 Option board
UM104-10,-20 Fujikoshi 2 Option board
8 PCB (Sequence) UM880-10 Fujikoshi 1
9 PCB (Analog I/O) UM820-10 Fujikoshi 1 Option board
9906,EARE-0041-002
10 PCB (RIO Interface) UM858-10 Fujikoshi 1 Option board
Maintenance parts A-3 (Periodic replacement parts)
No. Part name Type Maker Recomd No. Remarks
1 Battery BAT02 Fujikoshi 2 Replace every 2 years regardless of operating hours
2 Fan motor 5915PC-10T-B30-B00 Minebea 2 FM3,FM4 Heat Exchanger
5-9
Maintenance parts B-2 (Parts which can be purchased directly from makers)
No. Part name Type Maker Recomd No. Remarks
1 Small-size relay MY4N(DC24V) Omron 3 On UM880 (CDR3,4,10)
2 Circuit breaker BU-ESB3030L Fuji Elec. 1
3 Switching regulator R25U-5 or R25U-6 Cosel 1 SR2 (Depending on the length of harness)
4 Switching regulator RMC50-2 Cosel 1 SR01(For Analog I/O board UM820)
9906,EARE-0041-002
5 Periodic Inspection
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 1 Exterior view of controller
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 3 Parts layout viewing from controllers rear
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 5 Parts layout in board rack
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 7 Signal system diagram (stamping)
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 9 Power system diagram
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 11 Power supply unit circuit diagram 2
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 13 Operation panel & teach pendant connection diagram 2
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 15 Drive unit connection diagram 1(SC35/50)
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 17 Drive unit connection diagram 2
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 19 Brake circuit diagram(SC35/50)
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 21 Encoder cable connection diagram
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
6-
9906,EARE-041-001
Fig. 23 Sequence circuit diagram 2
6 Parts layout and electric circuit diagram
6- 9906,EARE-041-001
7 Principle of function
9906,EARE-041-002
7-1
7.1 Teaching and playback system
Playback robot means manipulator of the following contents usually. [The manipulator which can do the work
repeatedly by to make memorize the order of the work, a position and the other information by human being's
instructing in the work beforehand, moving a manipulator and making replay it]
It is generally known as teaching playback.
The teaching system is classified into the method by the teach pendant and direct programming. NACHI robot use
the teaching playback system by the teach pendant.
There are axis operation switches according to the number of axes and teaching switches on the teach pendant.
The repeating the above, one job can be taught to the robot. The taught job is done during playback as a series of
movement. The above are repeated as many times as desired.
The control system moving from point to point is called PTP Control (Point to Point Control).
PTP control cares about only positioning at recorded points and path between them is not controlled. The above is
not sufficient for a welding or handling robot, and NACHI robot obtains oath between recorded points by
computation (by connecting two points by a straight line or circular arc) and performs control to subdivide the
path between two points.
Circular arc
Straight line
Taught point
Robot positioning is explained above. Besides, in the teaching, speed and an output signal, an input signal, a
various direction and so on are recorded simultaneously with the position information of each step.
9906,EARE-041-002
7-2
7 Principle of function
Teaching data CPU Target data Creating locus Servo Current amp. Gate
Motor
(Memory) Accel. control loop PWM control drive
UM883
Robot controller
When dividing the composition of the robot very roughly, it separates into the microcomputer section, the servo
mechanism and the power supply section as shown in Fig.7-3.
9906,EARE-041-002
7-3
7.2.1 Power supply section
Power supply section supplies power to the microcomputer section and the servo mechanism.
Note that power to be supplied to the servo mechanism is supplied to the motor through the servo amplifier.
Memory
System
Data memory
program
It is possible to think that the microcomputer section in the robot control equipment, too, consists of the
same general computer style, the input unit (the input interface), the output unit (the output interface),
arithmetic control unit (CPU), the memory unit (the memory).
However, the type of the input/output unit is quite different from that of a general computer. The input unit
of the robot includes teach pendant and operation panel. The output unit includes the display panel and
output relay signals.
As another important input and output, there are output of the command value to the servo mechanism
(operation command to the manipulator) and input of the present value from the encoder (feedback of
manipulator position). It can be said that the microcomputer section works as a robot controller by the above
element.
The memory unit has the same hardware as a general computer. Data (software) stored in memory unit are
peculiar to the robot and consists of the system program (the control program written by the manufacturer
before shipment) and data (position, speed, auxiliary function, etc.) made by programming.
9906,EARE-041-002
7-4
7 Principle of function
In case of the robot, by optional targets to stay in this position or to maintain this speed, each axis
motor moves to follow the position and speed. By composing movements of all axes, the robot can draw a
desired path on the space.
Target
data Creating locus Servo Current amp. Gate
Motor
Accel. control loop PWM control drive
UM883
Fig. 7-5 Servo mechanism
The servo mechanism used in the AR52 controller is explained above. Fig. 7-5 shows its block diagram. At
the AR52 controller, it confirms the position of the robot in encoder, it compares command value data and
encoder data in motion controller UM883 and it is moving a motor to the command value data through the
drive unit.
9906,EARE-041-002
7-5
7.2.4 Encoder
Encoder is optical formula encoder of compact absolute type and is a motor incorporation type.
Basically, the position is absolute position encoder to understand simultaneously with power supply
investing.
The output data of this encoder is rough absolute position data immediately after power supply investing
but has the characteristic which switches over to the detailed data when moving a little. Generally, it is the
one which is called a pre-loading operation type. The AR52 controller works a motor axis angle by 2
degrees forcing when supplying a motor with the electric power first after power supply investing and is
making pre-load.
There are serial communication data and a pulse signal which is called A aspect and B aspect in the output
data from encoder.
The encoder present position data and the status data which shows the condition of encoder are contained
in the serial communication data. Position data is used by the feedback loop of the position of the
servomechanism, and the checking of the malfunction of encoder uses status data.
The signal of the A aspect and the B aspect is the pulse signal with which a phase was shifted and the
number of the pulses which occurs by 1 turn is set. The operation speed can be confirmed from the
direction of the operation, the number of the cycles by these two signals.
It is using as the speed feedback signal.
9906,EARE-041-002
7-6