VLA Specific Functions and Precautions

This section describes VLA specific functions and precautions.

VL Initial Setting

After purchase of the VLA series robot, it is necessary to send VL initial setting data to the robot controller with WINCAPSIII and perform setup (CALSET and 5 degree operation confirmation) with the smart TP or MP (mini-pendant).

For details, refer to "VL Initial Setting".

About Encoder Reference Position Error

In the following cases, the error [0x8320411* : Encoder reference position error] will occur.

• When you turn on the power without connecting the controller and the robot through the motor and encoder cable.
• When you pull out the motor and encoder cable before the controller power is turned off.
• When the robot unit with the power off has undergone an excessive vibration during transportation.

If the error occurred, move the target joint to the CALSET position in Joint mode of Manual mode and check that the actual angle of the robot unit coincides with the angle recognized by the controller.

If there is no problem, refer to "Displaying the Encoder Reference Position" and clear the encoder reference position error.

If it is deviated, it is necessary to perform CALSET on the target joint again.

Attention

• During the encoder reference position error occurrence, you cannot execute other than operations in Joint mode of Manual mode.
• If the error "Encoder data unreceived" occurred, CALSET must be performed since the multi-rotation data of the encoder is cleared.

Precautions when Performing CALSET

• If you perform CALSET for multiple joints among wrist joints (4, 5, 6th joints), perform in ascending order of joint number (order: 4th -> 5th -> 6th joint) or perform for multiple joints at the same time.
• If the encoder reference position error occurred, visually align the movable reference notch with the fixed reference notch and then perform "Recover CALSET Data" for 1st, 2nd, 3rd joints and "CALSET" for 4, 5, 6th joints to recover encoder data close to the original condition (condition before the encoder reference position error occurred).
• When you perform "CALSET", if you need CALSET of high reproducibility, use a calibration tool (option).

Precautions when Releasing Brake

If you release the brake by the brake release module, the error [0x8440722* : Diagnostic error occurred in the safety module] will occur.
If you turn on the motor again, restart the controller.

Functions that cannot be Used with VLA

The following functions cannot be used with the VLA series robot.

• High Precision Control (HighPathAccuracy)
• Gravity Compensation (GrvCtrl)
• Ambient Temperature Settings on the Robot Operation
• Anticipated Overload
• Vibration Control M