AVANT Robot 185, Руководство оператора

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Robot 185 Troubleshooting
Troubleshooting the control system
The most common reasons for faults in the control system:
• empty/dead battery
• dirty battery terminals
• a damaged control cable
• another radio-controlled machine using the same frequency
Troubleshooting the modules
The modules send out a so called ”heartbeat” to each other and it changes its state every 100 ms. This
is used to determine, whether the modules are functional. In a fault situation, the indicator light (System)
blinks. In addition, the PowerOn light of the frame module blinks.
Short-circuit protection: the modules monitor the status of their own outputs, in case of a short circuit and
an uncontrolled status. In a fault situation, the indicator light (System) gives an alarm and the output is taken
out of use during the control.
Module temperature: the modules send out internal temperature information to the channel from where it
can be read using the Service display. If the temperature is not within the approved limits, an alarm is given
with the indicator light (System).
Status of the I/O pins: the module sends out the analogue values of all DI, DO and the used AI-, PWM-, PI-,
and FB pins in 8 bits to the channel, from where they can be read using the Service display. This helps to
locate the problem in a possible fault situation.
Condition monitoring of the rotary connection: the frame module investigates the functioning of the CAN
traffic between the tower module and the frame module. If the fault density (the relative number of faulty
messages) exceeds the accepted level, a service request is given with the indicator light (Service).
When controlling the motor/hydraulic pump, the number in the operating hour meter increases. The service
interval is set with a parameter; when the interval is met, the indicator light (Service) gives an announcement of
the service requirement. The service operation is acknowledged in the Service display as having been done.
The PowerOn indicator light: a red indicator light is attached to the frame module and it functions as
the ”rear light” of the machine at the same time. The control system is functional when the light is on
continuously. If it is not on, the control system is not functional.
If there is a fault in the control system, that prevents the safe control of all movements, the indicator light
blinks on and off. These types of faults are, for example:
• a broken CAN channel between the tower and frame module or between the remote control receiver
(RMI) and the frame module
• unreliable functioning traffic between the remote control transmitter (HMI) and the receiver (RMI)
• too low an operating voltage in the modules.
The indicator light blinks, if the emergency stop circuit has not been acknowledged after turning on the
remote control or if the ”dead man switch” has not been acknowledged.
If no operating voltage has been connected to the control system or if the emergency stop circuit has been
cut, the indicator light is not lit.