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Mobile Industrial Robots MiR Series, Руководство по устранению неисправностей

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Troubleshooting guide (en) 07/2020 - v.1.1 ©Copyright 2019-2020: Mobile Industrial Robots A/S.

26

Error code

Error type

Description

Solution

10401, "Robot
detected skid
condition!"

Environmental
error.

Requires
interaction.

Hardware
error.

Requires
interaction.

The wheels on the robot
are turning, but the
robot is not moving. This
often occurs during
docking.

Check that the floor is clean, the robot
wheels have traction with the floor,
and the robot is not excessively or
unevenly loaded.

If the issue persists, you can also
modify the threshold for skid detection
in the robot interface under

System

> Settings > Error handling
> Advanced settings

.

10702, "motor
stall detected!"

Environmental
error.

Requires
interaction.

Hardware
error.

Requires
interaction.

See error

Safety on

page 3

.

10701, "Left
motor encoder
signal missing!"

Hardware
error.

Can resolve
itself.

The motor controller is
missing a connection to
the left side motor
encoder.

Check the encoder cables (see the
section about checking encoder cables
in the troubleshooting guide

Troubleshoot MiR200 going into
Protective stop randomly

). If the cables

and the connectors are fine, replace
the motor and bogie as described in
the guide

How to replace the bogie

with motor on MiR100/MiR200

.

10711, "Right
motor encoder
signal missing!"

Hardware
error.

Can resolve
itself.

The motor controller is
missing a connection to
the right side motor
encoder.

See

10701, "Left motor encoder signal

missing!" above

.

Содержание MiR Series

Страница 1: ...Error codes and solutions Troubleshooting guide en Date 07 2020 Revision 1 1 Valid for All MiR robots...

Страница 2: ...sts you have to address the issue by determining the cause of the issue Often the issue is caused by faulty cable connections or broken components Before inspecting the robot s internal parts it is a...

Страница 3: ...roubleshoot your robot effectively you may need to investigate the internal or external parts while the robot is turned on You will be exposed to electrical and mechanical hazards Only connect the bat...

Страница 4: ...upport Before creating a support request it is highly recommended to update to the latest recommended software as this may resolve the issue It will also enable your robot to generate a more detailed...

Страница 5: ...can diagnose and solve the issue correctly attach an error log retrieved from the robot It is important that the error log is generated as described in the guide How to generate an error log found on...

Страница 6: ...sary as this may damage the connection between the wire and connector When checking a wire it should only be able to move 0 5 mm from its original position at most If the cable and connector are secur...

Страница 7: ...pdate to the latest version try to roll back to a functioning software version and report the issue to Technical Support 201 Free Memory is VERY low Hardware error Can resolve itself An issue has occu...

Страница 8: ...ort on page 4 401 Very low free space on harddrive Hardware error Requires interaction The hard drive memory is almost filled up Begin by deleting old backups stored on the robot this can be done thro...

Страница 9: ...ributor site 601 Teensy Gyroscope data timed out Last Gyroscope message received seconds d seconds ago Hardware error Can resolve itself The MiR board is not receiving data from the gyroscope Try rebo...

Страница 10: ...not updated to the latest software it is recommended to update your robot this may solve the issue If the issue occurred after a software update to the latest version try to roll back to a functioning...

Страница 11: ...R board Wait at least ten minutes to give the robot time to finish uploading Otherwise if the uploading time seems excessive cancel the upload and try to update the software again 701 MIR100 200 Motor...

Страница 12: ...e power to the motor controller For the 24V supply wire 041 begins the connection from the controller to the battery via relays and fuses For the 5V power supply wire 071 begins the connection Refer t...

Страница 13: ...ION_FAILED_ NO_SCANNER_DATA on page 25 803 SICK S300 Got xx failed transmissions in the last xx seconds Hardware error Can resolve itself See error 10202 E_ LOCALIZATION_FAILED_ NO_SCANNER_DATA on pag...

Страница 14: ...lugged in and that there are no obvious signs of damage If no faults are found try hooking up the camera to your computer via the USB cable that connects to the robot computer If you are unable to con...

Страница 15: ...in error 901 Camera OpenNI Waiting for connection is taking longer than expected on the previous page 911 Camera realsense R200 D435 Unable to detect camera with serial xxxx yyyy zzzz etc however xx o...

Страница 16: ...etected cameras to the last serial number reported in the error Select Save changes If the error does not disappear within a minute try rebooting the robot 911 Camera realsense R200 D435 Unable to det...

Страница 17: ...ety PLC If you are experiencing errors in the safety system we cannot troubleshoot programs with custom modifications Download a new standard configuration file from the robot interface and upload it...

Страница 18: ...bot computer Wait approximately ten minutes to see if the computers begin to sync If not reboot the robot If the issue still persists you can manually sync the robot and hook under System Settings Tim...

Страница 19: ...200 Operating guide You can also test the brake by signing into the robot and going to Hook Manual control and selecting Activate and Deactivate brake 5302 Hook brake failed Timeout Hardware error Req...

Страница 20: ...page 3 5302 Hook brake release failed Fault flag active Hardware error Requires interaction The brake was expected to move a certain number of encoder ticks for successful release of the brake but a...

Страница 21: ...ue to the duty cycle of the brake motor See the solution description in error Safety on page 3 5310 Hook brake Initialization failed Hardware error Can resolve itself Initialization of the brake motor...

Страница 22: ...ed to encoder cable fault Hardware error Can resolve itself The connection between the hook computer and the hook encoders is faulty Remove the cover from MiRHook and check the wiring from the encoder...

Страница 23: ...ould like to move the robot to is inside a forbidden area If the robot must go to that position review your active map and remove the forbidden area move the position to an accessible area for the rob...

Страница 24: ...would like the robot to move to is blocked by an obstacle Check that the area you would like to move the robot to is clear Consider adding a Try Catch action to provide the robot with an alternative...

Страница 25: ...ly localize itself at first but as soon as it begins to move the robot in the map moves either faster or slower than it does in reality resulting in the red scanner lines being misaligned with the wal...

Страница 26: ...Advanced settings 10702 motor stall detected Environmental error Requires interaction Hardware error Requires interaction See error Safety on page 3 10701 Left motor encoder signal missing Hardware er...

Страница 27: ...cision docking Hardware error Can resolve itself The robot computer has lost connection to the controller for the precision docking locking mechanism Check that the precision docking controller Raspbe...

Страница 28: ...are update to the latest version try to roll back to a functioning software version and report the issue to Technical Support 201 Free Memory is VERY low Hardware error Can resolve itself An issue has...

Страница 29: ...rror Can resolve itself The hard drive memory is almost filled up Begin by deleting old backups stored on the robot this can be done through the robot interface under System Backups If the issue persi...

Страница 30: ...solve the issue If the issue occurred after a software update to the latest version try to roll back to a functioning software version and report the issue to Technical Support 801 SICK Microscan 3 Lo...

Страница 31: ...ts refer to the solution in error 5101 Unable to connect to camera on page 39 911 Camera realsense D435 Unable to detect camera with serial xxxx yyyy zzzz etc however xx other cameras are connected wi...

Страница 32: ...n a minute try rebooting the robot 911 Camera realsense D435 Unable to detect camera with serial xxxx yyyy zzzz etc and no other cameras available Hardware error Requires interaction See error 5101 Un...

Страница 33: ...uires interaction You have modified the SICK program on the safety PLC If you are experiencing errors in the safety system we cannot troubleshoot programs with custom modifications Refer to the soluti...

Страница 34: ...error Can resolve itself The current delivered to the top application power interface is outside the limits max 20 A Inspect your top application Contact your top application distributor for assistanc...

Страница 35: ...e itself The voltage delivered from the battery is outside the limits Inspect the cable from the battery to the power board If no faults are found replace the battery 2110 Voltage monitor VBat_ Fuse H...

Страница 36: ...Figure 1 8 that leads from the power board to the top application interface if no faults are found in the cable 2116 Voltage monitor 5V0 Hardware error Can resolve itself The 5 V power supply is faul...

Страница 37: ...Hardware error Can resolve itself The 12 V power supply is faulty See the solution in 2111 Voltage monitor 12V on page 35 2121 Voltage monitor 5V_Inp Hardware error Can resolve itself The 5 V power su...

Страница 38: ...ntroller carrier board 2210 Can Bus Error Proximity sensor Light controller Left side Front Hardware error Can resolve itself See error above 2210 Can Bus Error Proximity sensor Light controller Left...

Страница 39: ...board is faulty See the solution description for error 2203 Can Bus Error Right MotorController on page 37 5101 Unable to connect to camera Hardware error Can resolve itself The robot computer is not...

Страница 40: ...sing Depending on the description in the error code check various fields in Hardware Health to locate the exact error Browse the troubleshooting guides on the Distributor site to see if any of them de...

Страница 41: ...error Requires interaction The position you would like to move the robot to is inside an obstacle defined in your active map Review your active map and check that dynamic obstacles objects in the are...

Страница 42: ...ION_ FAILED Environmental error Requires interaction The robot is not able to correctly localize itself When looking in the active map in the robot interface if the red scanner lines do not align enou...

Страница 43: ...s to the safety PLC CAB 012 and CAB 013 from the power board to the front and rear scanners CAB 010 from the PLC to the front scanner and CAB 011 from the front to the rear scanner CAB 074 from the po...

Страница 44: ...500 MiR1000 10702 Left motor stall detected Environmental error Requires interaction Hardware error Requires interaction There is a high power output to the left motor but the robot is not moving This...

Страница 45: ...nt If this cable is fine you will either need to replace the left side bogie or the motor controller carrier board Refer to the how to guide How to replace the bogie with motor on MiR500 MiR1000 or Ho...

Страница 46: ...ing guide en 07 2020 v 1 1 Copyright 2019 2020 Mobile IndustrialRobots A S 46 Reference images MiR100 MiR200 Figure 1 1 Power light on MiR board The top left USB connector connects the board to the ro...

Страница 47: ...ight 2019 2020 Mobile IndustrialRobots A S 47 Figure 1 2 Robot computer USB connections Label no Description Label no Description 1 Connects to front laser scanner 2 Connects to rear laser scanner 3 C...

Страница 48: ...7 2020 v 1 1 Copyright 2019 2020 Mobile IndustrialRobots A S 48 Figure 1 3 Router and its inputs Label no Description Label no Description 1 Connects to the robot computer 2 Connects to safety PLC 3 C...

Страница 49: ...Troubleshooting guide en 07 2020 v 1 1 Copyright 2019 2020 Mobile IndustrialRobots A S 49 Figure 1 4 Motor controller LED...

Страница 50: ...Hook 100 MiR Hook 200 Figure 1 5 MiR Hook 100 MiR Hook 200 internal components Label no Description Label no Description 1 Fuse box 2 DC DC USB 3 Top application power interface 4 Hook computer 5 Enc...

Страница 51: ...Troubleshooting guide en 07 2020 v 1 1 Copyright 2019 2020 Mobile IndustrialRobots A S 51 MiR500 MiR1000 Figure 1 6 CAB 30 from the battery...

Страница 52: ...2 Figure 1 7 Front and rear laser scanner respectively The black cable are the power cables CAB 012 and CAB 013 and the blue cable are the connection cables CAB 010 and CAB 011 The rear scanner connec...

Страница 53: ...tery charger connection 2 CAB 038 3 CAB 039 4 CAB 074 Safety PLC power 5 CAB 012 Front laser scanner power 6 CAB 013 Rear laser scanner power 7 CAB 018 Router and computer power 8 CAB 071 Speaker 9 Au...

Страница 54: ...able connection Label no Cable connection 13 CAB 040 Top application GPIO 14 CAB 067 On Off swith power 15 CAB 014 CAN bus connection to motor controller carrier board 16 CAB 066 Pendant 17 Unused 18...

Страница 55: ...3 Unused 4 CAB 052 Left motor power 5 CAB 022 Left Hall sensor 6 CAB 025 LEFT Left feedback 7 CAB 016 Protective stop 8 CAB 014 CAN bus connection to power board 9 CAB 023 Left motor encoder 10 CAB 01...

Страница 56: ...2020 Mobile IndustrialRobots A S 56 Document history Version Date Description 1 0 2019 11 11 First edition 1 1 2020 07 23 Added description of error code types Added error 13000 Added errors 10711 an...

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