Connecting And Disconnecting The Tpb; Connecting The Tpb To The Ercx Controller - Yamaha ERCX Series User Manual
Single-axis robot controller
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Also See for ERCX Series:
- User manual (148 pages) ,
- Supporting supplement manual (34 pages)
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4-1 Connecting and Disconnecting the TPB
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4-
4-1
Connecting and Disconnecting the TPB
4-1-1 Connecting the TPB to the ERCX controller
c
CAUTION
Do not modify the TPB cable or use any type of relay unit for connecting the TPB to the ERCX controller. Doing
so might cause communication errors or malfunctions.
■ When the power supply to the controller is turned off
Connect the TPB connector to the connec-
tor labelled "TPB" on the front panel of the
controller and supply power to the control-
ler. A beep sounds for approximately 1 sec-
ond and then the screen shown at the right
appears. This screen is referred to as the "Ini-
tial screen" from this point onwards.
■ When the power supply to the controller is turned on
The TPB can also be connected to the ERCX controller if the power supply to the controller is on.
When the TPB is connected, a beep sounds for about 1 second and then the initial screen appears.
At this point, the robot servo may turns off from the turn-on state. (See "4-1-3 Different points
from SRCX and DRCX controllers".)
If the TPB is connected while the controller is executing a program or an I/O dedicated command,
the execution will be interrupted and the robot operation will halt.
c
CAUTION
Any of the messages "08: PNT DATA DESTROY", "09: PRM DATA DESTROY" or "10: PGM DATA DE-
STROY" may appear on the TPB when the power to the controller is turned on. (See "13-2 Alarm and Counter-
measures".) If one of these messages appears, turn off the power to the controller and then turn it back on again
while the emergency stop button of the TPB is still depressed. In this state, the robot servo remains off, but the
initial screen appears on the TPB to allow key operation, so initialize and restore the data.
If the message "05: BATT. LOW-VOLTAGE" appears on the TPB when the power is turned on, turn off the
power to the controller and then turn it on again while the emergency stop button of the TPB is still depressed.
In this state, the robot servo remains off, but the initial screen appears on the TPB to allow key operation, so
make a backup of the data, and then replace the lithium battery in the controller (the lithium battery normally
lasts five years). (See "14-2 Replacing the System Backup Battery".)
If the message "SIO error" is displayed on the TPB, check whether the I/O dedicated command input is on. If
the dedicated command input is on, the TPB cannot be used, so the dedicated input must always be a pulse input
(the dedicated command input must be off when the BUSY signal turns on.) (Refer to "3-2-1 Dedicated
command input".)
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Troubleshooting
