YASKAWA YRC1000micro

HW1484764
Daily Inspection Items
5-1
HW1484764
5. Daily Inspection Items
5.1. Checking the Torque Sensor Status
The home position of the torque sensor attached to each axis of the MOTOMAN-HC10 may be
misaligned if you fail to use the manipulator correctly. You can check the torque sensor status using
the self-check function or the External Force Monitor screen, as described below.
5.1.1. Checking the Torque Sensor Status Using the Self-check Function
(Supported Only by YRC1000 System Version YAS2.52 or Later and
YRC1000micro System Version YBS2.10 or Later
*1
)
After powered ON, the controller self-checks whether or not the estimated external torque values for
each axis are deviated. If the external torque value for an axis is found exceeding the following
threshold (
*2
) as the result of the self-check, an alarm 8016 will occur.
After resetting the alarm, check again that the tool information is correctly configured and then turn
back on the controller.
If the same alarm is occurred after tuning back on the controller, reconfigure the torque sensor home
position with reference to "5.2 How to Reconfigure the Torque Sensor Home Position".
Alarm Code
Subcode
Message
8016
Axis exceeding
judgment threshold
(Decimal
representation of bits)
Need Resetting TORQUE SENSOR ORG POS
The subcode shows the decimal representation of a bit value indicating the axis that is judged as
exceeding the threshold, as shown in the figure below.
Example: When the estimated external torque values for the R- and B-axes exceeds the threshold
Subcode: [24]
* Binary representation (011000) --> Decimal representation (24)
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