ABB IRC5P, Product Manual, Page: 186 / 220

8 Trouble Shooting
8.3 Fault Symptoms and Malfunctions
186 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
8.3.12 Inconsistent Path Accuracy
Description
The path of the robot TCP is not consistent. It varies from time to time, and this may
sometimes be accompanied by noise emerging from bearings, gearboxes or other
locations.
Consequences
Production is not possible.
Possible Causes
The symptom may be caused by:
• Mechanical joint between motor and gearbox damaged, often causing noise.
• Bearings damaged or worn (especially if the path inconsistency is coupled with
clicking or grinding noises from one or more bearings).
• The brakes may not be releasing correctly.
Recommended Actions
Step Action Comment
1 Locate a faulty bearing by tracking the noise. Replace faulty bearing. See ‘Product
Manual, Manipulator’.
2 Locate the faulty motor by tracking the noise.
Study the path of the robot TCP to establish
which axis, and thus which motor, may be
faulty. Replace the faulty motor/gearbox. See
‘Product Manual, Manipulator’.
3 Make sure the robot brakes work properly. Proceed as described in section ’Robot
Brakes do not Release’ on page 191.