1.1 Arrangement of Units and Circuit Boards
2.1 Protection Through Security Mode Settings
2.1.1.1 Changing the Security Mode
3.2.1 Checking If the Doors Are Firmly Closed
3.2.2 Checking for Gaps or Damage in the Sealed Construction Section
3.3 Cooling Fan and Air Filter Inspections
3.3.2 Air Filter Inspection and Cleaning Procedure
3.4 Emergency Stop Button Inspections
3.7 Power Supply Voltage Confirmation
4 Preparation before Replacing Parts
4.2 Advanced Preparations for Replacing the Programming Pendant
5.1.1 Replacing Parts of the CPU Unit
5.1.1.1 Replacing the CPU Board (JANCD-ACP01-E)
5.1.1.2 Replacing the Robot I/F Board (JZNCD-AIF01-□E)
5.1.2 Replacing the General-Purpose I/O Board (JANCD-AIO0□-E)
5.1.3 Replacing the Safety Circuit Board (JANCD-ASF01-E)
5.1.4 Replacing the Inverter Unit (CSRA-SDA□□H01A)
5.1.5 Replacing the Converter (CSRA-CV□□□□□□)
5.1.6 Replacing the Power Supply Contactor Unit (JZRCR-APU0□-1)
5.1.7 Replacing the Control Power Supply Unit (CSRA-CPS01Ko)
5.1.8.1 Power Supply Contactor Unit
5.1.8.2 General-Purpose I/O Board
5.1.9 Replacing Backside Duct Fan
5.1.10 Replacing the Air Filter of the Heat Exchanger
5.1.11 Replacing the Fan of the Heat Exchanger
5.1.11.1 Replacing the Interior Fan
5.1.11.2 Replacing the Exterior Fan
5.1.12 Replacing the Filter and the Filter Kit of the Heat Exchanger
5.1.12.2 TCMSY-320DC, TCMSY-322DC
5.1.13 Replacing the Fan of the Heat Exchanger
5.1.13.1 Replacing the Interior Fan *Common to each heat exchanger
5.1.13.2 Replacing the Exterior Fan (TCMSY-312DC)
5.1.13.3 Replacing the Exterior Fan (TCMSY-320DC, TCMSY-322DC)
5.1.14 Replacing the Power Supply for the Manipulator Fan
5.1.15 Replacing the Single-Axis Amplifier (CSRA-SDB□□HA)
5.1.16 Replacing the Fan Control Relay
5.1.17 Replacing the Programming Pendant
5.1.17.1 Installing Advanced Preparation Data
5.1.18 Replacing the Control Power Supply Unit Fans (CSRA-CPS01KB-FN)
5.5 Confirming Revision Number of YRC1000 Replacement Circuit Board
6 Operations after Replacing Parts
6.1.1 Home Position Calibration
6.1.2.1 Registering All Axes at One Time
6.1.2.2 Registering Individual Axes
6.1.2.3 Changing the Absolute Data
6.1.2.4 Clearing Absolute Data
6.1.3 Home Position Posture of Manipulator
6.2 Position Deviation Check Using the Check Program
6.3 Checking of the Check Program
6.3.1 Motion of the Check Program
6.3.2 Checking of the Check Program
6.3.3 Home Position Data Correction
6.4 Setting the Second Home Position (Check Point)
6.4.1 Purpose of Position Check Operation
6.4.2 Procedure for the Second Home Position Setting (Check Point)
6.4.3 Procedure after the Alarm
7.3.1.1 GENERAL PURPOSE Input Window
7.3.1.2 General-Purpose Simple Window
7.3.2.1 General-Purpose Output Window
7.3.2.2 General-Purpose Output Simple Window
7.3.2.3 Modifying the Output Status
7.3.3.2 Specific Input Simple Window
7.3.4.1 Specific Output Window
7.3.4.2 Specific Output Simple Window
7.3.5.2 External Input Detail Window
7.3.6.1 External Output Window
7.3.6.2 External Output Detail Window
7.3.8.1 Direct Search on the General Purpose/Specified Input/Output Window
7.3.9.1 Direct Search on the General Purpose/Specified Input/Output Window
7.3.10 Modification of the Signal Name
7.3.10.1 Direct Modification on the General Purpose/Specified Input/Output Window
7.3.10.2 Modification from the Menu
7.4 System Monitoring Time Display
7.4.1 System Monitoring Time Display Window
7.4.2 Individual Window of the System Monitoring Time Display
7.4.3 Initializing the System Monitoring Time Display
7.5.2 Change the Listing Order of Alarm History
7.5.3 Alarm History Detailed Information Window
7.5.4 Clearing the Alarm History
7.6.1 I/O Message History Window
7.6.2 Clearing the I/O Message History
7.7 Position Data When Power Is Turned ON/OFF
7.7.1 Power ON/OFF Position Window
7.9.1.1 Changing the Monitor Items
7.9.1.2 Clearing Maximum Torque Data
7.10 State of the Robot Drop Tolerance Error
7.10.1 Check the Robot Drop Tolerance
7.10.2 Display of the Drop Value Number Window
7.10.3 Display of the Drop Value Check Window
7.10.4 Clear the Times of the Drop Value Number
8.2.1 Displaying and Releasing Alarm
8.3.2 Display of Alarm Detail Window
8.3.3 Transition of Alarm Detail Window
9.1.1 System and General Operation
9.1.4 External Memory Equipment
9.2.1.2 Application Transaction Error
9.2.2 When the Error Is Indicated
9.2.2.2 Application Transaction Error
10 Job Data Simplified Restoration Function
10.2.1 How to Check Job Data Inconsistent Status
10.2.2 Job Data Restoration Method
10.2.2.1 In Case Same Position Data Is Chained
10.2.2.2 In Case Not-Registered Position Data Is Chained
10.2.2.3 In Case Not-Chained Position Data Exists
10.3 If Fail in Simplified Restoration
10.3.2 If Data Inconsistency Alarm Occurs Again
11 LED Indicator on Circuit Board
11.1 LED Indicator on ACP 01 Circuit Board
11.2 LED Indicator on CPU Board
11.3.0.1 The 7 SEG-LED Indicator Status (1-Digit Indication) of Each Unit at Error Occurrence
11.3.0.2 The 7 SEG-LED Indicator Status (4-Digit Indication) of Each Unit at Error Occurrence
11.5 LED Indicator of the Control Power Supply Unit
12.1 About Program Upload Function
12.1.1 When the System Program Is Required
12.3 Restoration Procedure 1 (Writing the Program)
12.3.1 Determining Failure of SD Card
12.3.2 Preparation of SD Card for ACP01
12.3.3 Preparation of SD Card for Wiring the Program
12.3.4 Writing the System Program
12.4 Restoration Procedure 2 (Loading the Batch Data)
12.4.1 When the Batch Data Is “CMOS.BIN”
12.4.2 When the Batch Data Is “CMOSBK.BIN”
12.5 Restoration Procedure 3 (Loading Other Data (Installation))
12.5.1 Installation of Application Program in Maintenance Mode
12.6 In Case of the SD Card Failure
12.6.1 Preparation of SD Card for ACP01
12.6.4 Saving the MotoPlus Application
12.6.5 Saving the Programming Pendant Customized Application
13 Trouble Shooting When Alarm Is Not Displayed
14 Troubleshooting a Communication Error between the CPU Board and the Servo Control Board
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