Intelitek SCORBOT-ER 9, Руководство пользователя

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*** IMPACT PROTECTION axis n
The controller has detected a position error which is too large. The system
aborted all movements of that axis group, and disabled all axes of that group. The
user routine CRASH, if it exists, has been executed. Possible causes:
(1) An obstacle prevented the movement of the arm.
(2) An axis driver fuse has blown.
(3) The motor power switch is turned off.
(4) An encoder fault.
(5) A mechanical fault.
(6) The axis is not connected.
Determine and correct the cause of the position error. Then reenable servo
control of the motors (CON), and restart the program.
INDEX pulse not found axis n
The index pulse of the encoder was not found during the homing of the
specified axis. Possible causes:
(1) The distance between the index pulse and the home switch transition
position has changed, due to a mechanical fault on the axis or a maintenance
procedure (such as replacement of the motor, motor belt, encoder, or gear).
Enter the command ZSET. Then retry homing.
(2) Index pulse faulty.
Check the encoder and wiring.
*** LOWER LIMIT AXIS n.
During keyboard or TP manual movement of the specified axis, its encoder
attained its minimum allowed value.
Move the axis in the opposite direction.
Motor power switch is OFF.
Be sure the controller’s MOTORS switch is on. Activate CON. Then repeat
the motor or movement command.
No hard homing axis n.
The specified axis has not been configured for hard homing.
Use the HOME command (instead of HHOME). OR
Check the type of homing suitable for that axis. If necessary, change the
system parameters to allow hard homing of the axis.
No homing.
The homing parameters for the axis (PAR 460+axis and PAR 600+axis) are set
to 0; as a result, the homing procedure will not be performed on the axis.
User’s Manual 9 - 7 SCORBOT-ER IX
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