Motoman XRC Manual de usuario
MOTOMAN
MOTOMAN ROBOTICS EUROPE
A subsidiary of YASKAWA Electric Corporation
MOTOMAN XRC
MAINTENANCE MANUAL
Alarm • Error List
Upon receipt of the product and prior to initial operation, read these instructions thoroughly,
and retain for future reference.
MANUAL NO. MRS51020
MOTOMAN ROBOTICS EUROPE
Reference list
Operator’s Manual Basic Programming
Maintenance Manual Installation and Wiring
Revision
990319
First release of this manual.
Revision
990617
Master page updated with new company name
(MOTOMAN ROBOTICS EUROPE AB)
Revision
990827
New alarm is added.
Created: 99-03-02 Revised: 99-06-17 Doc. name: MRS51020TOC.FM
Operator’s manual MOTOMAN XRC Page: III
MOTOMAN ROBOTICS EUROPE
1. Alarm ....................................................................5
Outline of Alarm 5
Alarm Message List 6
❏ Alarm number 0010-0999 6
❏ Alarm number 1000-1333 20
❏ Alarm number 4000-4601 36
2. Error ...................................................................63
Error Message List 63
❏ System and General Operation 63
❏ Editing 67
❏ Job Defined Data 67
❏ External Memory Equipment 70
❏ Concurrent I/O 76
❏ Maintenance mode 77
Operator’s manual MOTOMAN XRC
Page: IV MOTOMAN ROBOTICS EUROPE
Created: 99-03-02 Revised: 99-06-17 Doc. name: MRS51020TOC.FM
Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM
Operator’s manual MOTOMAN XRC Page: 1
MOTOMAN ROBOTICS EUROPE
Safety
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance or inspec-
tion of the MOTOMAN XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING” or
”INFORMATION”.
This manual explains the various components of the MOTOMAN XRC
system and general operations. Read this manual carefully and be
sure to understand its contents before handling the MOTOMAN XRC.
General items related to safety are listed in the MOTOMAN XRC Setup
Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
WARNING
Indicates a potentially hazardous situation
which, if not avoided, could result in minor,
moderate or serious injury to personnel and
damage to equipment. It may also be used
to alert against unsafe practices.
To ensure safe and efficient operation at all
times, be sure to follow all instructions, even
if not designated as “CAUTION” and
“WARNING”.
INFORMATION
Always be sure to follow explicitly the items
listed under this heading.
Operator’s manual MOTOMAN XRC
Page: 2 MOTOMAN ROBOTICS EUROPE
Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM
The equipment is manufactured in conformity with the EC Machinery
directive, the EMC-directive as well as the LVD-directive.
The equipment is intended to be incorporated into machinery or
assembled with other machinery to constitute machinery covered by
this directive, and must not be put into service until the machinery
into which it is to be incorporated has been declared in conformity
with the provisions of EC´s Machinery, EMC and LVD Directive.
Information how to connect to the MOTOMAN XRC is described in the
XRC Service Manual.
MOTOMAN is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
MOTOMAN may modify this model without notice when necessary
due to product improvements, modifications or changes in specifica-
tions. If such modification is made, the manual will also be revised,
see revision information.
If your copy of the manual is damaged or lost, contact a MOTOMAN
representative to order a new copy. The representatives are listed on
the back cover. Be sure to tell the representative the manual number
listed on the front cover.
MOTOMAN is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM
Operator’s manual MOTOMAN XRC Page: 3
MOTOMAN ROBOTICS EUROPE
Definition of terms used often in this manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the
programming pendant and supply cables.
In this manual, the equipment is designated as follows.
Key operation
Descriptions of the programming pendant and playback panel keys, buttons and
displays are shown as follows:
Equipment Manual designation
MOTOMAN XRC Controller XRC
MOTOMAN XRC Playback panel P-Panel
MOTOMAN XRC Programming pendant P-Pendant
Start panel for machinery operation in PLAY-mode Start panel
Equipment Manual designation
Programming
pendant Character keys The keys which have characters printed on them are
denoted with [ ]
ex. [ENTER]
Symbol keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key
The cursor key is an exception and a picture is not
shown.
Axis keys
Number keys “Axis keys” and “Number keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is
denoted with “italic” characters.
ex. JOB
Playback panel Buttons Playback panel buttons are enclosed in brackets.
ex. [TEACH] on the playback panel
Operator’s manual MOTOMAN XRC
Page: 4 MOTOMAN ROBOTICS EUROPE
Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM
Description of the operation procedure
In the explanation of the operation procedure, the expression "Select • • • " means
that the cursor is moved to the object item and the SELECT key is pressed.
Teaching
Before operating the robot, check that the servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
Injury or damage to machinery may result if the emergency stop circuit cannot
stop the robot during emergency. The MOTOMAN XRC should not be used if the
emergency stop buttons do not function.
Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occure if other person reset safety and restart robot in PLAY-
mode.
Confirm that no persons are present in the robot work envelope and
that you are in a safe location before:
✔Turning on the MOTOMAN XRC power.
✔Moving the robot with the programming pendant.
✔Running check operations.
✔Performing automatic operations.
Injury may result if anyone enters the working envelope of the robot during opera-
tion. Always press an emergency stop button immediately if there are problems.
Service
Perform the following inspection procedures prior to conducting
robot teaching. If problems are found, repair them immediately and be
sure that all other necessary processing has been performed.
✔Check for problems in robot movement.
✔Check for damages to insulation and sheathing of external wires.
Always return the programming pendant to the hook after use.
The programming pendant can be damaged if it is left in the robots work area, on
the flooror near fixtures.
Spare parts
MOTOMAN warranty is only valid if original spare parts are used.
Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH1.FM
Operator’s manual MOTOMAN XRC Page: 5
Outline of Alarm
MOTOMAN ROBOTICS EUROPE
Alarm • Error
1. Alarm
1.1 Outline of Alarm
When the alarm of level 0-3(major alarm) occurs, the servo power supply is inter-
rupted.
Alarm Code classification.
Alarm Code Alarm Level Alarm Reset Method
0oooooo Level 0 (Major alarm)
(Off line alarm : Initial diagnosis/
Hardware diagnosis alarm)
It is not possible to reset by [RESET] under
the alarm display or the specific I/O sig-
nal(Alarm reset). Turn off the main power sup-
ply and correct the cause of the alarm. Then
turn on the main power supply again.
1oooooo
-
3oooooo
Level 1-3 (Major alarm) It is not possible to reset by [RESET] under
the alarm display or the specific I/O sig-
nal(Alarm reset). Turn off the main power sup-
ply and correct the cause of the alarm. Then
turn on a main power supply again.
4oooooo
-
8oooooo
Level 4-8 (Minor alarm) After correcting the cause, it is possible to
reset by [RESET] under the alarm display or
the specific I/O signal(Alarm reset).
9oooooo Level 9 (Minor alarm)
(User Alarm) After correcting the cause that the specific
input signal for the system or user alarm
request is input, it is possible to reset by
[RESET] under the alarm display or the spe-
cific I/O signal(Alarm reset).
Operator’s manual MOTOMAN XRC
Page: 6
Alarm Message List
MOTOMAN ROBOTICS EUROPE
Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH1.FM
1.2 Alarm Message List
Pay special attention when performing any repairs for system control
circuit board “JANCD-XCP01”. Personnel must be appropriately
skilled in maintenance mode operation to carry out repairs.
JANCD-XCP01 back up very important file data for the user program
with a battery. Careless operation may delete registered data. If
repairs for JANCD-XCP01 are necessary, consult MOTOMAN service,
before performing any repairs.
■ Alarm number 0010-0999
Alarm
Number Message Cause Remedy
0010 CPU BOARD
INSERTION
ERROR
[Decimal Data]
Insertion of the circuit board was
not completed
Defective circuit board
Data stands for error circuit board
10:XCP02 circuit board (#1-0)
11:XCP02 circuit board (#1-1)
12:XCP02 circuit board (#1-2)
20:XCP02 circuit board (#2-0)
21:XCP02 circuit board (#2-1)
22:XCP02 circuit board (#2-2)
(Note)
XCP02 circuit board (#o- n)
o:Slot NO.
n:0 àXCP02 circuit board(main)
1 àSub-board1(connector CNSL
side)
2 àSub-board2(connector CNET
side)
Check whether the circuit board
is correctly inserted.
Replace the circuit board.
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