Hyundai YL005, Руководство по обслуживанию

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Hyundai Robotics
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_Maintenance | Maintenance of the collaborative robot Hyundai Robotics
 Anomalies of motors
An abnormal motor may lead to abnormal operation such as shaking at stopping, vibration in operation, and
irregular cycles (pulsation). It may also generate abnormal noise and overheating.
The phenomena of abnormal motors are similar to those of reducers. In such cases, replace the integrated
driving module, and contact our Customer Support Team to request analysis.

Anomalies of the brake
An abnormal brake will make the axes fall in the operation ready [brake OFF] state or generate overloading
and abnormal noise by being actuated in the operation ready [brake ON] state. You can check on anomalies of
the brake by the following methods:

While the motor is not turned on, turn ON the brake release switch so that the robot can be moved.
Before turning ON the brake release switch, take actions so that the robot arm cannot fall by the gravity.
 In the operation ready state, turn ON/OFF the brake release switch, and check that the brake operation
sound is heard. If the brake operation sound is not heard, there must be a wire disconnection, in most
cases. In such case, replace the integrated driving module.
Caution
 Take precautions because the robot arm may fall when the brake release switch is
turned ON/OFF.
 The brake release switch is on the circuit board placed near the door inside the
controller.

Anomalies of the encoder
An abnormal encoder will lead to deviation in position, malfunction, rush, etc. It may also lead to shaking at
stopping, and irregular cycles (pulsation). In such cases, check the error code through the teach pendant, and
replace the integrated driving module, as necessary. Phenomena such as abnormal mechanical noise,
overheating, and vibration are not related to anomalies of the encoder.
Caution

In replacing the integrated driving module, it will happen that the worker puts some parts on
the floor. Before the replacement, secure the area so that no parts can be lost or damaged.

Replacement of the integrated driving module must be carried out by qualified experts who
have taken the relevant training provided by Hyundai Robotics. In the event it is necessary to
replace the integrated driving module, contact our Customer Support Team to consign the
work to experts.
 After the robot is stopped and before the worker touches the integrated driving module, its
temperature should be checked.
 In the case of gigabit Ethernet option, because the module replacement is not easy, contact our
Customer Support Team to consign the work to experts.
4.2.2.2
Weight of the integrated driving module
In replacing the integrated driving module, take precautions for its weight.
Model S H V R2 B R1