8 Troubleshooting
H-840 Hexapod Microrobot
MS201E
Version: 2.5.1
43
Problem
Possible causes
Solution
controller is inserted in the
E-Stop
socket.
If you use the "Motion Stop" functionality:
1.
Check your system and make sure that the
hexapod can be moved safely.
2.
Activate the
24 V Out 7 A
output with
"Make contact" (for details, refer to the
user manual for the controller). If you use
the C-887.MSB motion-stop-box from PI:
Press the mushroom button first to unlock
it, then press the green pushbutton.
3.
Switch the servo mode on for the hexapod
axes. Use the SVO command or the
corresponding operating elements in the
PC software. Note: A new reference move
is not necessary
The hexapod does
not move.
Incorrect or missing
configuration data
Send the
CST?
command. The response
shows the hexapod, to which the
controller is adapted.
Set the correct hexapod using
DBG?
choosehexapod {type of hexapod}
Send the
ERR?
command. Error code
"233" in the answer indicates that the
configuration data for the hexapod is
missing on the controller. Contact our
customer service department (p. 45) in
order to receive valid configuration data.
The hexapod does
not move.
Error: (Position out
of limit)
The hexapod is
outside of the
permissible range of
movement
A reference move is
not possible for
hexapods with
absolute-measuring
sensors.
Create a KSD coordinate system that does
not take the Cartesian limits into
consideration, and increase the struts'
travel ranges to get back into a permissible
range of motion:
Query the current limits:
SPA? 1 0x30 (neg)
SPA? 1 0x15 (pos)
Multiply the answer by 1.5, and later set this
value as described below (for example, here
30 / -30 )
ksd limit z 0
ken limit
spa 1 0x30 -30 2 0x30 -30 3 0x30 -30 4 0x30 -
30 5 0x30 -30 6 0x30 -30
