Intelitek SCORBOT-ER 9, Руководство пользователя

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*** OUT OF RANGE axis n
An attempt was made to record a position (HERE, HEREC, etc. ) while the
robot arm was out of its working envelope.
Manually move the arm to a location within its working envelope. Then
repeat the command.
*** THERMIC OVERLOAD axis n
Through a software simulation of motor temperature, the system has detected
a dangerous condition for that motor. 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) The arm attempted to reach a position, which could not be reached due to
an obstacle (for example, a position defined as being above a table, but
actually slightly below the table’s surface). The impact protection is not
activated because the obstacle is close to the target position. However,
integral feedback will increase the motor current and the motor will overheat,
subsequently causing the Thermic Protection to be activated.
(2) An axis driver is faulty or its fuse has blown.
(3) The robot arm is near to the target position, but does not succeed in
reaching it, due to a driver fault. The software will then detect an abnormal
situation.
(4) The Thermic Protection parameters are improperly set, or have been
corrupted by improper loading of parameters.
Check the positions, the axis driver card and parameters. Reenable servo
control of the motors ( CON ).
*** TOO LARGE SPEED axis
n.
Possible causes:
(1) The controller has detected a movement which is too fast; that is, the
required displacement of the encoder, as calculated from the speed limit
parameter, PAR 180+axis, is too great.
(2) Since the trajectory is not calculated prior to a linear or circular
movement, the linear or circular movement may cause one of the joints to
move too fast.
Lower the value of speed for that movement.
SCORBOT-ER IX 9 - 8 User’s Manual
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