Intelitek SCORBOT-ER 9, User Manual

Page: 50 / 54

10. Pneumatic gripper does not respond.
• Check that all air hoses are connected properly.
• Make sure the gripper is connected to the proper controller output.
• Check the relay output to which the gripper is connected.
Check whether the relays have been switched (LED is lit):
In output OFF, NC is shorted to COM, NO is disconnected from COM.
In output ON, NO is shorted to COM, NC is disconnected from COM.
If outputs have not been switched, check the flat cable in the controller
connecting the main board (J17) and the I/O card.
Messages
Following is a alphabetical listing of system messages which indicate a problem
or error in the operation of the robot arm. Refer to the ACL Reference Guide for
additional error messages.
Axis disabled.
(1) A movement command could not be executed because servo control of the
arm has been disabled (COFF).
(2) A previous movement of the arm resulted in an Impact or Trajectory error,
thereby activating COFF and disabling the arm.
Check the movements of the robot, and correct the command(s).
CONTROL DISABLED.
Motors have been disconnected from servo control. Possible causes:
(1) COFF (control off) command was issued.
(2) CON (control on) has not been issued; the motors have not been activated.
(3) A previous error (such as Impact Protection, Thermic Overload or
Trajectory Error) activated COFF, thereby disabling the arm.
*** HOME FAILURE AXIS n.
The homing procedure failed for the specified axis. Possible causes:
(1) The home microswitch was not found.
(2) The motor power supply is switched off.
(3) Hardware fault on this axis.
Home on group/axis not done.
You attempted to move the arm to a recorded positions, or to record a
position, before homing was performed on the group or axis.
SCORBOT-ER IX 9 - 6 User’s Manual
9603