Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
E42-Ver. 1.02
Introduction
Introduction
Thank you for purchasing a YAMAHA Robot Controller.
This manual contains the dual robot installation and operating cautions. Please read this
manual carefully to ensure that installation and operation are performed in a safe and
correct manner.
1
MEMO
2
General Contents
Contents
Chapter 1 DUAL ROBOT OVERVIEW
1.1 About the dual robot 1-1
1.2 Dual robot selection requirements 1-2
1.3 Dual robot types 1-2
1.4 Dual drive functions 1-3
i
4.3.1 "Origin incomplete" status 4-5
4.3.2 At servo on 4-5
4.4 FLIP-X flexible dual axis parameters 4-6
Contents
Chapter 8 TROUBLESHOOTING
8.1 FLIP-X rigid dual and PHASER rigid dual 8-1
8.2 FLIP-X flexible dual and PHASER flexible dual 8-2
ii
Chapter 1 DUAL ROBOT OVERVIEW
Contents
OP.1
SRV
ERR
RGEN RDY
22
OP
E-ST
RCX2
BAT
B/A
R TEMP ROB
MOTO I/O
XM
ACIN L
N B OP.2
RP
L1
N1
TY
! SAFE
-STOP
EXT.E 12
PIN11-
YM
OM
SD/C
1-1
1.2 Dual robot selection requirements
1 YAMAHA's RCX Series robot controller offers four dual drive function types, and the
appropriate drive function must be specified in accordance with the dual robot model and
application to be used. Moreover, the selected dual drive function must be suitable for
Dual robot overview
the dual robot's linkage configuration. The following table shows the suitable dual drive
functions and dual robots which correspond to the various applications.
Model Application Dual robot type Dual drive functione
Increased thrust, etc. Rigid dual FLIP-X rigid dual
FLIP-X Increased thrust, high-
series accuracy positioning, Flexible dual FLIP-X flexible dual
etc.
Increased thrust, etc Rigid dual PHASER rigid dual
PHASER Increased thrust, high-
series accuracy positioning, Flexible dual PHASER flexible dual
etc.
[Example]
When using as a dual robot to increase the F14-20 thrust:
A "rigid dual" type dual robot is selected.
The "FLIP-X rigid dual" dual drive function is selected.
See the following sections for more information regarding dual robot types and dual drive functions.
• Rigid dual
This dual robot type features a highly rigid linkage of the main and sub axes which allows
the two axes to operate as a single axis. This robot configuration is suitable when using
the "rigid dual" dual drive function. This type is used primarily to increase the thrust.
• Flexible dual
This dual robot type features either a rotary or slide mechanism at the main and sub axes
linkage area to prevent force interference between the two linked axes, or functions as a
dual robot with the two axes unlinked. This robot configuration is suitable when using the
"flexible dual" dual drive function. This type is used primarily to increase thrust, and for
high-accuracy positioning, etc.
MEMO
For further details, refer to the subsequent chapters for each dual robot type.
1-2
1.4 Dual drive functions
1-3
1.4 Dual drive functions
1 Because the main and sub axes are controlled in the same manner as on single-axis robots, the
positioning accuracy is higher than that of PHASER rigid dual. This dual drive function is used
to increase thrust and for high-accuracy positioning. This function is also used in cases where
Dual robot overview
MEMO
For further details, refer to the subsequent chapters for each dual robot
type.
1-4
Chapter 2 DUAL ROBOT SETTINGS
Contents
(SYSTEM) – (PARAM)
to display the screen shown below, then verify that the dual robot setting is specified.
2
S Y S T E M>PAR AM V8 . 4 6
Robo t =MU L T I
M1 = a F 1 4H - 2 0 M 4 = n o a x i s
M 1 = a( a s s i s t D 1 ) M 5 = n o a x i s
M2 = n o a x i s M 6 = n o a x i s
M3 = n o a x i s ? 0= ( n o a x i s )
R OBOT AX I S OT HE R S OP. BR D
If the dual robot setting has been specified as shown in the above figure, the axis
relationships are as shown in the following table.
F14H-20 Dual
Controller's screen indication X Y Z R
Delivery specification chart X1 axis X2 axis Y-axis Z-axis
indication
Programming box display M1 M1 M2 M3
Controller recognition (parameter, X-axis Y-axis Z-axis
point data))
As shown in the above table, the X1 and X2 axes representing the dual robot are
recognized as a single axis by the controller. Therefore, the dual robot's parameter and
point settings are specified only for the X-axis, with settings specified for the Y-axis and
Z-axis only if another robot exists. Be aware that settings are specified for only one axis at
the dual robot.
For the axis relationships, refer to the controller's screen indication and the delivery
specification indication. The X1 axis is called the "main" axis, and the X2 axis is called the
"sub" axis.
n NOTE
Dual robot settings can be specified only in the "X and Y" or "Z and R"
combinations indicated at the controller screen.
2-1
2.2 Dual robot axis parameter settings
2
required, the following procedure must first be performed.
[Procedure]
Dual robot settings
S Y S T E M>PAR AM V8 . 4 6
Robo t =MU L T I
M1 = aMR 1 6 M 4 = n o a x i s
M 1 = a( a s s i s t D 1 ) M 5 = n o a x i s
M2 = n o a x i s M 6 = n o a x i s
M3 = n o a x i s ? 0= ( n o u s e )
PA S S WR D
MEMO
Because the dual robot axis parameter content varies according to the dual
robot model, refer to dual robot specific chapters for details.
2-2
Chapter 3 FLIP-X RIGID DUAL
Contents
MEMO
For details concerning the installation accuracy, please contact your YAMAHA
representative.
3-1
3.1 Robot installation
In cases where the user installs origin sensors, changes their positions, or replaces them,
etc., the origin sensor positions must then be adjusted.
3
First, install the sub axis origin sensor at a shorter distance (by 1/2 to twice the lead
length) so that it switches on before the main axis origin sensor switches on during
absolute reset. Also install the main and sub axis origin sensors in a manner which
FLIP-X rigid dual
provides a position where they can switch on simultaneously at absolute resets (see figure
below).
After completing the above procedure, perform the section 3.2 "Absolute resets" procedure
to adjust the origin sensor positions.
3-2
3.2 Absolute resets
FLIP-X rigid dual robots use a sensor method for absolute resets. When an absolute reset is
executed, the main axis detects the origin sensor, and then stops at the motor’s electrical
reference position following robot movement of no more than 1/4 the lead length. This 3
position is the main axis origin position. The sub axis origin position is determined by a
3.2.1 When not storing the main and sub axis positional
relationship data
The absolute reset completion position is the main axis origin position. The sub axis origin
position is determined by its follow-up operation keyed to the main axis.
① Set the sub axis origin sensor so that it switches on before (by 1/2 to twice the lead
length) the main axis origin sensor.
② Specify "0" as the "dual offset" axis parameter setting. (see section 3.4 "FLIP-X rigid
dual axis parameters").
③ Execute an absolute reset and verify the machine reference value.
④ If the machine reference value is outside the 25 to 75 range, adjust the position of
the main axis origin sensor.
⑤ Repeat steps ③ ④ above until the machine reference value is within the 25 to 75
range, then verify that the distance between the main and sub axis origin sensors
is not less than 1/2 or not more than twice the length of the lead. Also position
the main and sub axis origin sensors so that they can switch on simultaneously at
absolute resets. (See section 3.1.3 "Origin sensor installation".)
3-3
3.2 Absolute resets
n Note
When using an RCX141 or RCX221 controller, return-to-origin must be re-executed
if the power has been turned off.
3
Although the absolute reset completion position is the main axis origin position, the sub axis
position is automatically adjusted by the amount of the "dual offset" axis parameter setting value.
3-4
3.3 Robot operation cautions
Absolute reset must be re-executed if the origin sensors are moved, or if the absolute
reset related parameters are changed. In such cases, execute the absolute reset using the
procedure described above.
n Note
When using an RCX141 or RCX221 controller, return-to-origin must be re-executed
if the power has been turned off.
c CAUTION
・When setting the "dual offset" to save the main and sub axis positional
relationship in memory, always set the "return-to-origin direction" parameter
3
to "-" (minus). If it is set to "+" (plus), the current position will not be calculated
3.3.2 At ser vo on
If the sub axis position is deviated from the main axis position when the servo is turned
on while in an absolute reset completed condition, the sub axis position is automatically
adjusted immediately after the servo is turned on. The larger the deviation at this time, the
faster the sub axis movement, and this could pose a possible hazard to workers.
To prevent this hazard, the "17.28: Dual P.E. counter overflow" alarm occurs if the
distance between the main and sub axes equals or exceeds a prescribed value immediately
following a servo on.
In cases where large deviations are possible during a servo free-run condition due to a low
rigidity linkage of the main and sub axes, etc., the "servo parameter 3" (axis parameters)
3-5
3.4 FLIP-X rigid dual axis parameters
reference value should be set low to trigger an alarm, thereby ensuring safety. (See section
3.4 "FLIP-X rigid dual axis parameters".)
If the alarm is activated, adjust the main and sub axis positions, then perform a restart.
3 parameters requires that they first be changed to a write-enabled status by the procedure
described in chapter 2, section 2.2 "Dual robot axis parameter settings".
■ Kdvp
FLIP-X rigid dual
Specifies the servo gain setting for the main and sub axes speed deviation.
Although a higher setting value improves the sub axis follow-up operation keyed to the
main axis, vibration and abnormal noise may occur if the setting value is too high.
The appropriate setting value varies according to the robot model and the robot
installation conditions (main and sub axes linkage, etc.).
Setting range : Typically 10 to 20
Default setting: Varies according to the robot model
MEMO
Always consult with a YAMAHA representative before changing this setting
value.
■ Kdpp
Specifies the servo gain setting for the main and sub axis position deviation.
A higher setting value improves the sub axis follow-up operation keyed to the main
axis, and improves the sub axis positioning accuracy at stops. A higher setting is
particularly effective when the main and sub axes linkage rigidity is low. However,
abnormal noise and vibration may occur if the setting value is too high.
The appropriate setting value varies according to the robot model and the robot
installation conditions (main and sub axes linkage, etc.).
Setting range : Typically 10 to 20
Default setting: Varies according to the robot model
MEMO
Always consult with a YAMAHA representative before changing this setting
value.
3-6
3.4 FLIP-X rigid dual axis parameters
■ Dual offset
Specifies the mutual position difference which serves as the reference for the main and
sub axes.
When specified, the sub axis position is automatically adjusted so that the difference
between the main and sub axis positions conforms to this setting value. The setting
value is calculated by the following formula:
Dual offset [pulse] = Main and sub axes mutual position difference x 4096 ÷ 100
Decimal values should be rounded off to the nearest whole number.
n Note
Be aware that the sub axis position adjustment occurs after the absolute 3
reset completion.
Return-to-origin direction
Motor's electrical angle Main axis sensor
reference position ON position
Return-to-origin
completion position
Main
axis
Sub
axis
If the sub axis position is
Sub axis sensor deviated at return-to-origin
ON position completion, it is automati-
Main and sub axes mutual
position difference cally adjusted to this setting
value.
The adjustment shown above does not occur if the "dual offset" is set to 0, -1, or -2.
Instead, these settings specify the following special functions.
(1) "0" setting
Disables the sub axis position adjustment following an absolute reset completion.
The main axis machine reference displays as the machine reference.
(2) "-1" setting
Disables the sub axis position adjustment following an absolute reset completion.
The main and sub axes mutual position difference displays as the machine
reference.
(3) "-2" setting
Disables the sub axis position adjustment following an absolute reset completion.
The sub axis machine reference displays as the machine reference.
3-7
3.4 FLIP-X rigid dual axis parameters
The above functions are used with respect to the "dual offset" setting. For details, see
section 3.2.2 "When main and sub axis positional relationship is saved in memory".
■ Servo parameter 3
Specifies the threshold value where the "17.28: Dual P.E. counter overflow" alarm is
3
activated. This alarm is activated if the main and sub axis position deviation exceeds
this threshold value.
Setting range : 0 to 65535 [pulse]
FLIP-X rigid dual
3-8
Chapter 4 FLIP-X FLEXIBLE DUAL
Contents
4-1
4.1 Robot Installation
In cases where the user installs origin sensors, changes their positions, or replaces them,
etc., the origin sensor positions must be adjusted.
If the main and sub axes are linked, their origin sensors should be positioned as close to
the same position (at both the main axis and sub axis sides) as possible. An appropriate
length is also required at the sensor dogs. (see the figure below)
4 After completing the above procedure, perform the section 4.2 "Absolute resets" procedure
to adjust the origin sensor positions.
FLIP-X flexible dual
Origin sensors
Main axis Sub axis
The main and sub axes are each
equipped with one sensor. Position
the two sensors as close to the same
position (at both the main axis and
sub axis sides) as possible.
Sensor dogs
An appropriate length
is required.
4-2
4.2 Absolute resets
FLIP-X flexible dual robots use a sensor method for absolute resets. When an absolute
reset is executed, the main and sub axes detect the origin sensors, and then stops at the
motor’s electrical reference position following robot movement of no more than 1/4 the
lead length. This position represents the main axis and sub axis origin positions.
Moreover, a "dual offset" axis parameter setting can be specified in order to adjust either
the main or sub axis. Execute an absolute reset using the procedure described below.
4
4-3
4.2 Absolute resets
4
are changed, absolute reset must be re-executed using the procedure described above.
n Note
FLIP-X flexible dual
c CAUTION
When turning off the power after setting the "dual offset", always first execute
an absolute reset and then turn off the power. If the power is turned off without
executing an absolute reset, the current position will not be calculated
correctly at power ON, causing a position deviation of the sub axis.
4-4
4.3 Robot operation cautions
4.3.2 At ser vo on
If the sub axis position is deviated from the main axis position when the servo is turned
on while in an absolute reset completed condition, the sub axis position is automatically
4
4-5
4.4 FLIP-X flexible dual axis parameters
■ Dual offset
Specifies the main axis or sub axis position at an absolute reset completion.
The desired offset distance is specified in [pulse] units, and that offset is applied relative to
the main axis or sub axis origin position following an absolute reset completion. Following
a return-to-origin completion, the origin based positional relationship is maintained.
(1) Plus-value setting
Offsets the main axis in the plus-direction.
Return-to-origin
completion position
Origin position
+ − Sub axis
(or "main axis" when setting
is a minus value)
n Note
Be aware that the offset-subject axis movement occurs (by the amount of the
"dual offset" setting value) after movement to the origin position is completed.
■ Servo parameter 3
Specifies the threshold value where the "17.28: Dual P.E. counter overflow" alarm is
activated. This alarm is activated if the main and sub axis position deviation exceeds
this threshold value.
Setting range : 0 to 65535 [pulse]
(A setting of "0" is processed as the maximum setting value.)
Default setting: 0
4-6
Chapter 5 PHASER RIGID DUAL
Contents
MEMO
For details concerning the installation accuracy, please contact your YAMAHA
representative.
5-1
5.1 Robot installation
Return-to-origin direction
Origin sensor
Main axis Sub axis Origin sensors not required
because the return-to-origin
operation uses a stroke end method.
Parallelism
An overload alarm may occur if the main and sub axes
parallelism and linkage squareness are deviated.
5-2
5.2 Return-to-origin operations
c CAUTION
In the case of semi-absolute type PHASER rigid dual robots, an absolute search
is automatically performed by starting a return-to-origin operation. The return-
to-origin movement (described later) does not occur. For details regarding
absolute search movement, refer to Chapter 7, "Semi-absolute type PHASER
rigid dual/flexible dual".
PHASER rigid dual robots use a stroke end method for return-to-origin operations. When a
return-to-origin is executed, the main axis moves until contact is made with the robot end,
5
5-3
5.3 Robot operation cautions
5.3.2 At ser vo on
If the sub axis position is deviated from the main axis position when the servo is turned
on while in a return-to-origin completed condition, the sub axis position is automatically
adjusted immediately after the servo is turned on. The larger the deviation at this time, the
faster the sub axis movement, and this could pose a possible hazard to workers.
5
To prevent this hazard, the "17.28: Dual P.E. counter overflow" alarm occurs if the
distance between the main and sub axes equals or exceeds a prescribed value immediately
following a servo on.
PHASER rigid dual
In cases where large deviations are possible during a servo free-run condition due to a low
rigidity linkage of the main and sub axes, etc., the "servo parameter 3" (axis parameters)
reference value should be set low to trigger an alarm, thereby ensuring safety. (See section
5.4 "PHASER Rigid Dual Axis Parameters".)
If the alarm is activated, adjust the main and sub axis positions, then perform a restart.
5-4
5.4 PHASER rigid dual axis parameters
■ Kdvp
Specifies the servo gain setting for the main and sub axes speed deviation. Although a
higher setting value improves the sub axis follow-up operation keyed to the main axis,
vibration and abnormal noise may occur if the setting value is too high.
The appropriate setting value varies according to the robot model and the robot
installation conditions (main and sub axes linkage, etc.).
Setting range : Typically 10 to 20
Default setting: Varies according to the robot model
MEMO
Always consult with a YAMAHA representative before changing this setting value.
■ Kdpp
5
Specifies the servo gain setting for the main and sub axis position deviation. A higher
MEMO
Always consult with a YAMAHA representative before changing this setting value.
■ Servo parameter 3
Specifies the threshold value where the "17.28: Dual P.E. counter overflow" alarm is
activated. This alarm is activated if the main and sub axis position deviation exceeds
this threshold value.
Setting range : 0 to 65535 [pulse]
(A setting of "0" is processed as 16384.)
Default setting: 0
5-5
MEMO
5-6
Chapter 6 PHASER FLEXIBLE DUAL
Contents
MEMO
For details concerning the installation accuracy, please contact your YAMAHA
representative.
6
6.1.2 Using a mechanical reference position
6-1
6.1 Robot installation
Return-to-origin direction
Origin sensors
Main axis Sub axis
Origin sensors are installed at the main
and sub axes (1 sensor each). Do not
change their factory-adjusted positions.
Sensor dogs
6
An appropriate length is required.
PHASER flexible dual
n Note
In the case of semi-absolute type PHASER flexible dual robots, the origin sensors
are installed at different positions. For details, refer to Chapter 7, "Semi-absolute
type PHASER rigid dual/flexible dual".
6-2
6.2 Return-to-origin operations
c CAUTION
In the case of semi-absolute type PHASER flexible dual robots, an absolute
search is automatically performed by starting a return-to-origin operation. The
return-to-origin movement (described later) does not occur. For details
regarding absolute search movement, refer to Chapter 7, "Semi-absolute type
PHASER rigid dual/flexible dual".
PHASER flexible dual robots use a sensor method for return-to-origin operations. When
a return-to-origin is executed, the main and sub axes each detect their origin sensors,
followed by movement to the Z-phase, with a stop occurring at the motor's electrical
reference position. These respective positions are the main and sub axis origin positions.
6
Moreover, the "dual offset" and "servo parameter 5" axis parameter settings can be
specified to adjust the main or sub axis position.
Use the following procedure to perform a return-to-origin operation.
6-3
6.3 Robot operation cautions
If the sum of the "dual offset" and "servo parameter 5" setting values is a minus
value, the main axis is offset in the minus direction.
n Note
Be aware that the axis offset occurs (by the amount of the "dual offset"
setting) after movement to the origin position is completed.
For details regarding the axis parameter dual offset and servo parameter 5, see section
6.4 "PHASER flexible dual axis parameters".
6 related parameter change, the main and sub axis positional relationship which existed
immediately after power ON is maintained.
After a return-to-origin completion, the positional relationship is adjusted in accordance
PHASER flexible dual
with the "dual offset" and "servo parameter 5" axis parameter setting values.
6.3.2 At ser vo on
If the sub axis position is deviated from the main axis position when the servo is turned
on while in an absolute reset completed condition, the sub axis position is automatically
adjusted immediately after the servo is turned on. The larger the deviation at this time, the
faster the sub axis movement, and this could pose a possible hazard to workers.
To prevent this hazard, the "17.28: Dual P.E. counter overflow" alarm occurs if the
distance between the main and sub axes equals or exceeds a prescribed value immediately
following a servo on.
In cases where large deviations are possible during a servo free-run condition, the "servo
parameter 3" (axis parameter) reference value should be set low to trigger an alarm,
thereby ensuring safety. (See section 4.4 "FLIP-X Flexible Dual Axis Parameters".)
If the alarm is activated, adjust the main and sub axis positions, then perform a restart.
6-4
6.4 PHASER flexible dual axis parameters
● Plus-value setting
Offsets the sub axis in the plus-direction.
● Minus-value setting
Offsets the main axis in the plus-direction.
Return-to-origin
completion position
(when "servo parameter 5" is set to "0")
6
Be aware that the offset-subject axis is moved by the amount of the "dual offset" setting
value after movement to the origin position.
If the "servo parameter 5" axis parameter is set to a value other than "0", the operation
pattern differs from that shown above. For details, refer to the "servo parameter 5"
explanation given below.
■ Servo parameter 5
Adjusts the main or sub axis position at a return-to-origin completion.
The desired offset distance [pulse] can be specified at both the "dual offset" and "servo
parameter 5" settings to offset the main or sub axis in the minus direction relative to its
origin position.
Following a return-to-origin completion, the origin based positional relationship is maintained.
6-5
6.4 PHASER flexible dual axis parameters
● If the sum of the "dual offset" and "servo parameter 5" settings is a plus value
The sub axis is offset in the minus direction.
● If the sum of the "dual offset" and "servo parameter 5" settings is a minus value
The main axis is offset in the minus direction.
Be aware that the offset-subject axis is moved by the amount of the "dual offset"
setting value after movement to the origin position.
The "servo parameter 5" setting can only be used when a "dual offset" setting is
specified. When a minus-direction offset is desired, divide the offset distance between
the "dual offset" and "servo parameter 5" settings.
If a minus-setting is specified, the sub axis moves in the same direction as the main axis.
If a plus-setting is specified, the sub axis moves the opposite direction as the main axis.
■ Servo parameter 3
Specifies the threshold value [pulse] where the "17.28: Dual P.E. counter overflow"
alarm is activated. This alarm is activated if the main and sub axis position deviation
exceeds this threshold value.
Setting range : 0 to 65535 [pulse]
(A setting of "0" is processed as 16384.)
Default setting: Depends on robot model.
6-6
Chapter 7 SEMI-ABSOLUTE TYPE
PHASER RIGID DUAL/FLEXIBLE DUAL
Contents
7.1 Semi-absolute
"Semi-absolute" is the name for a simple absolute scale used in the YAMAHA linear single-
axis robot PHASER series. Semi-absolute type single-axis robots use a position detection
scale with a simple absolute search function that automatically searches an absolute
7
c CAUTION
Methods for "robot installation" and "parameter setting" other than "origin
sensor installation" and "dual offset setting" are the same as those for non-semi-
absolute type robots.
7-1
7.2 Origin sensor installation
7 In semi-absolute type robots, origin sensors are used to detect the stroke limit during
absolute search movement.
Install one origin sensor each at the stroke end of the main axis and sub axis, and adjust
SEMI-ABSOLUTE TYPE PHASER RIGID DUAL/FLEXIBLE DUAL
the position of each origin sensor so that it switches on before the robot strikes the stroke
end during absolute search movement.
For details regarding the movement in origin sensor detection during absolute search, refer
to 7.3, "Absolute search".
c CAUTION
Origin sensors are not required when the stroke end method is used for return-
to-origin operation.
Return-to-origin direction
Main axis Sub axis
Origin sensor
Install one origin sensor each at
the stroke end of the main axis
and sub axis.
Sensor dog
7-2
7.3 Absolute search
Return-to-origin direction
Absolute search
C A D B start position
Sub axis
Main axis
① Upon starting return-to-origin, the main axis starts an absolute search and moves to
position A in the return-to-origin direction. The sub axis follows the movement of
the main axis. The maximum distance moved from the absolute search start position
to position A is 76mm.
② The movement direction is reversed and the axis continues moving to position B
where the current position on the main axis is determined. Position B is at a point
7-3
7.3 Absolute search
7 origin direction. The main axis follows the movement of the sub axis. The maximum
distance moved from position B to position C is 76mm.
④ The movement direction is reversed and the axis continues moving to position D
SEMI-ABSOLUTE TYPE PHASER RIGID DUAL/FLEXIBLE DUAL
where the current position on the sub axis is determined. Position D is at a point
between position B and position C.
⑤ When the current positions on the main and sub axes are determined, the main and
sub axes move to the same absolute position.
If the mechanical positions of the main and sub axes are not aligned, adjust the
positional relationship using the "dual offset" axis parameter. For how to set the "dual
offset" parameter, refer to "3) Dual offset setting".
Return-to-origin direction
Sub axis
Main axis
7-4
7.3 Absolute search
① Upon starting return-to-origin, the main axis starts an absolute search and moves in
the return-to-origin direction. The sub axis follows the movement of the main axis.
② When the stroke limit is detected, the movement direction is reversed and the axis
continues moving to position E. The maximum distance moved from the stroke limit 7
detection position to position E is 76mm.
After the current position on the main axis is determined, an absolute search on the
sub axis starts.
Also, in cases where the stroke limit is detected while the sub axis moves to position
C (see figure in 1)) by absolute search, the absolute search movements are the same as
those for detecting the stroke limit on the main axis.
c CAUTION
・When the sensor method is used for return-to-origin operation, the stroke
limit is detected with the origin sensor. In the stroke end method, the
stroke end is detected as the stroke limit.
・When the sensor method is used for return-to-origin operation, the
movement direction is reversed at a timing that either of the main axis
origin sensor or sub axis origin sensor turns on.
7-5
7.3 Absolute search
If the mechanical positions of the main and sub axes are not aligned as shown above,
set the "dual offset" to adjust the positional relationship
7 When the "dual offset" is set and an absolute search is performed, the current positions
on the main and sub axes are determined and then the sub axis moves to the absolute
position that is offset by the mount of the "dual offset" setting.
SEMI-ABSOLUTE TYPE PHASER RIGID DUAL/FLEXIBLE DUAL
ー + Sub axis
10 20 30
ー + Main axis
10 20 30
7-6
Chapter 8 TROUBLESHOOTING
Contents
Troubleshooting
2 Sub axis position is a) Improperly aligned main and a) Realign the axes.
unstable at absolute sub axes.
reset (return-to-origin)
completion. b) Insufficient main and sub axes b) Increase the linkage rigidity.
linkage.
c) No "dual offset" axis parameter c) Specify the appropriate
setting (applies only to the parameter settings (for details,
FLIP-X rigid dual robot). refer to the "Absolute Resets"
(return-to-origin) sections for
each dual robot type).
3 Sub axis repeated a) Improperly aligned main and a) Realign the axes.
positioning accuracy is sub axes.
poor.
b) Insufficient main and sub axes b) Increase the linkage rigidity.
linkage.
c) Insufficient servo parameter c) Contact your YAMAHA
adjustment. representative.
d) Insufficient rigid dual servo d) Contact your YAMAHA
parameter adjustment. representative.
4 Vibration and/or a) Improperly aligned main and a) Realign the axes.
abnormal noise occurs sub axes.
during operation.
b) Insufficient main and sub axes b) Increase the linkage rigidity.
linkage.
c) Insufficient servo parameter c) Contact your YAMAHA
adjustment. representative.
d) Insufficient rigid dual servo d) Contact your YAMAHA
parameter adjustment. representative.
5 The "17.4: Over load" a) Improperly aligned main and a) Realign the axes.
alarm occurs. sub axes.
b) Insufficient main and sub axes b) Increase the linkage rigidity.
linkage.
6 The "17.28: Dual P.E. a) Improperly aligned main and a) Realign the axes.
counter overflow" or sub axes.
"17.6: P.E. counter
overflow" alarm occurs b) Insufficient main and sub axes b) Increase the linkage rigidity.
during operation. linkage.
c) Insufficient rigid dual servo c) Contact your YAMAHA
parameter adjustment. representative.
d) The "servo parameter 3" axis d) Increase the parameter setting
parameter setting is too low. value.
7 The "17.28: Dual P.E. a) Excessive deviation between a) Adjust the main and sub axis
counter overflow" or the main and sub axis positions positions before turning the
"17.6: P.E. counter at power ON. power ON.
overflow" alarm occurs
at power ON. b) Excessive deviation between b) Increase the parameter setting
the main and sub axis positions value.
at power ON.
8-1
8.2 FLIP-X flexible dual and PHASER flexible dual
8
(return-to-origin). (return-to-origin) sections for
each dual robot type).
8-2
MEMO
Revision record
Ver. 1.00 Jul. 2008 English manual Ver. 1.00 is based on Japanese manual Ver. 1.00.
Ver. 1.01 Dec. 2008 English manual Ver. 1.01 is based on Japanese manual Ver. 1.02.
Ver. 1.02 Oct. 2009 English manual Ver. 1.02 is based on Japanese manual Ver. 1.03.
User's Manual
Oct. 2009
Ver. 1.02
This manual is based on Ver. 1.03 of Japanese manual.