13-
8
13
TROUBLESHOOTING
13-3 Troubleshooting for Specific Symptom
Items to Check
• Check the coupling bolts.
• Check the screws used to secure the
cover.
• Measure the degree of leveling.
• Check for debris intrusion, damage or
deformation.
• Check for debris intrusion, damage or
deformation.
• Check for noise or vibration around the
axes.
• Try replacing the motor with another
one.
• Measure to see if the resistance
between the motor case and the
controller's FG terminal is 1 ohm or
less.
• Check the parameter data.
• Try using another controller if
available.
Action
• Tighten if loose.
• Tighten if loose.
• Correct the leveling if outside the
tolerance limit.
• Clean or replace the linear guide.
• Check to make sure the linear guide is
being used properly.
• Clean or replace the ball screw.
• Check to make sure the ball screw is
being used properly.
• Correct the assembled condition.
• If another motor works normally, then
the currently used motor is defective so
replace it.
• If the resistance is too high, find and
repair the poor connection.
• Initialize the parameters.
• If another controller operates normally,
then the currently used controller is
defective, so replace it.
• Use the correct controller and robot
combination.
No.
4
Possible Cause
Coupling is not
securely tightened.
A screw on the
cover is loose.
Robot installation
surface is not flat
or even.
Linear guide
abnormality
Ball screw
abnormality
Bearing
abnormality
Motor failure
Improper
grounding of
motor case
Parameter setting
error
Controller failure
1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
Symptom
Abnormal noise
or vibration
occurs.
• Check the coupling or pulley bolts.
• Check the ball screw.
• Check the acceleration.
• Check the amount of belt slack.
• Make sure there is no loose parts where
the robot is installed.
• Check whether the motor case is
properly grounded.
• Check that the resistance between the
motor case and the controller's FG
terminal is 1 ohm or less, and also that
the controller is properly grounded.
• Try using another controller if
available.
• Try replacing the motor with another
one.
• Tighten if loose.
• Replace the ball screw if necessary.
• Correct the parameter setting.
• Adjust the belt tension.
• Reinstall the robot securely.
• If the controller is used near a unit that
generates noise such as welding
machines and electric discharge
machines, move it as far away as
possible. If the entire unit cannot be
moved, then at least move the power
supply away. It might be necessary to
use a noise filter or isolating
transformer depending on the trouble.
• Do not move the robot at high speeds
while the position data is retained.
• If another controller operates normally,
then the currently used controller is
defective, so replace it.
• If another motor works normally, then
the currently used motor is defective so
replace it.
5
Coupling or pulley
is not securely
tightened.
Ball screw is loose.
Belt is not
properly meshed.
Robot is not
securely installed.
Malfunction
caused by noise
The robot was
moved at high
speeds during
power off. (higher
than 3000rpm)
Controller failure
Motor failure
1)
2)
3)
4)
5)
6)
7)
8)
Position
deviation or
offset occurs.
If this occurs,
leave the power
on and perform
return-to-origin.
Depending on
the results of the
return-to-origin,
there are two
possible causes
of the problem:
• If position
offset is not
corrected by
the return-to-
origin:
Mechanical
offset - See
causes 1) to
4).
• If position
offset is
corrected by
the return-to-
origin:
Electrical
offset - See
causes 5) to
8).
• Connect the TPB and check the robot
type number.
• Remove the cover and check the sensor
operation by looking at the LED.
Origin position: LED is ON.
Other positions: LED is OFF.
• Check whether the origin sensor signal
turns ON/OFF in DIO monitor of TPB.
• Check the parameter for the origin
detection method.
(X-axis: PRM55)
(Y-axis: PRM95)
• Use the TPB to check whether the
alarm occurs before or after return-to-
origin is complete. If the alarm occurs
after return-to-origin is complete, the
damper position is inappropriate.
• If the origin sensor does not work
correctly, replace it.
• When the parameter setting is "1"
(stroke-end detection method), "3"
(mark method), initialize the parameter.
• When the parameter setting is "0"
(sensor method), set the parameter to
"1".
• Adjust the origin position.
6
Wrong robot type
number setting
Origin sensor
failure
Parameter setting
error
The origin
position is
inappropriate so
the robot slider
makes contact
with the damper
when at the origin.
1)
2)
3)
4)
During return-
to-origin, the
robot stops due
to alarm after
striking on the
stroke end
(overload).
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