Yamaha YK120X User Manual

At this time, our thanks for your purchase of this YAMAHA YK-X series SCARA
robot.

(1) Please be sure to perform the following tasks before using the robot.

Note that the robot may operate abnormally (abnormal vibration or noise) if
the following work is not carried out.

Before the YK-X Series is shipped, the position shown in "Chapter 7, 1-2 Exter-
nal view and dimensions" is adjusted as the origin position, and the standard
coordinates are provisionally set.

Absolute reset must be carried out just once before the YK-X Series robot can
be used.
Once absolute reset is completed, it does not need to be carried out again when
the power is turned ON the next time.
Refer to "Chapter 4, 3. Adjusting the origin" in this manual and "Absolute
Reset" in the "YAMAHA Robot Controller owner's manual" for details on
absolute reset.

Set the standard coordinates while referring to instructions in "5. Setting the
Standard coordinates" in Chapter 4 of this manual and also to "Setting the
Standard coordinates" in the "YAMAHA robot controller owner's manual".
Robot malfunctions (vibration, noise) may occur if the standard coordinates
are not set correctly.

Even though there is no problem with the robot, the following error messages are
issued when the robot and controller are connected and power first turned on.
(Actual error messages may differ according to how the robot and controller are
connected.)

17.27 : D?.ABS. backup failed (CPU)
17.80 : D?.ABS. backup failed (DRIVER)
17.81 : D?.ABS.battery wire breakage
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
17.94 : D?.ABS.battery low voltage

etc