6.
Errors in the repeatability of the robot.
•
Try to identify the faulty axis. If many or all axes are faulty, look for an
electrical noise source in your environment.
•
Check the controller’s ground and the robot’s ground connection to the safety
ground terminal at the back of the controller.
•
Check the encoder.
Bring the robot to a starting position. Using a pencil, draw a fine, continuous
line on the robot which crosses from the cover of one link to the cover of the
adjacent link at the joint in question.
Enter the command SHOW ENCO to display the encoder readings.
Enter the command COFF (to disable servo control) and then physically move
the axis to another position. Then return to the starting position marked by the
line you drew. Check the encoder reading for the axis again. It should be
within 5 counts of the previous reading; if not, the encoder needs to be
replaced.
7.
Unusual noise.
•
Loose screws.
•
Poor lubrication.
•
Ratcheting.
•
Worn motor brushes.
•
Worn timing belt.
•
Damaged harmonic drive.
8.
Unusual smell.
•
A motor has burnt out and needs to be replaced.
9.
Axis/axes vibrating, too weak to carry load, motion not smooth, or jerks during or
at end of motion.
•
System parameters are not properly adjusted.
Refer to the ACL Reference Guide.
•
Problem in axis driver card(s) in the controller.
Refer to the Controller-B User’s Manual.
User’s Manual
9 - 5
SCORA-ER 14
9603
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