PreCise PF3400, Справочник по аппаратуре

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PreciseFlex_Robot
92
Symptom Recommended Action
System error message generated
“ESTOP not Enabled” Check both Phoenix plug and 9 pin Dsub for Estop jumpers.
“Encoder Battery Low” Replace absolute encoder battery in base of robot
“Encoder Battery Down”
If encoder cable has been disconnected, recalibrate robot. If
battery voltage has dropped below 2.5V replace encoder battery
and recalibrate robot.
“Encoder Operation Error” Joint rotated too quickly with power off. See Procedure below.
“Encoder Data, Accel/decel Limit Error”
Check that the FPGA code is dated Jan 25, 2012 or later.
Upgrade FPGA if necessary. Encoder cable may be damaged and
encoder is getting intermittent communication, causing apparent
jumps in position. Check encoder connectors on flat ribbon cable.
Replace cable. Replace motor.
“Encoder Communication Error”
Check that the FPGA code is dated Jan 25, 2012 or later. Check
encoder connectors on flat ribbon cable. Replace encoder cable or
motor/encoder.
"Encoder quadrature error" Replace slip ring. Replace motor/encoder (only Gripper motor ).
"Missing zero index" See "Encoder quadrature error"
“Motor duty cycle exceeded” Reduce speed or acceleration of robot. Check for instability.
“Amplifier under voltage”
Motor power supply has reached current limit and shutdown. Slow
down robot. Check Energy Dump PCA. Replace 48V supply.
“Amplifier Fault” Check harness and motor for shorts.
“Amplifier Over Voltage” Replace energy dump board. Check harness for shorts.
“Soft Envelope Error”
Make sure robot not pressing against surface. If this occurs on
the gripper repeatedly, replace slip ring.
“Hard Envelope Error” Typically means robot has crashed into something.
Pneumatic Gripper Sensor not working
Check continuity of cable through wrist. Check green lights on
sensor to see if sensor is triggering.
“Time Out Nulling Error”
Check that joint is free to move with brake off. Check that joint is
not vibrating or unstable. If unstable check belt tension. If Gripper,
replace slip ring after checking that brake releases.
“Joint Out of Range”
The joint actual or commanded position may be beyond the
software limit stop. Move joint back into range while monitoring
virtual pendant or check program for commanded position.
“PAC Files Corrupted” See recovering from corrupted PAC Files
Physical or audible problem
Brown streaks on linear bearing
Clean with alcohol and add grease to bearing blocks. This should
not be required sooner than 20,000 hours of run time. Grease is
Alvania Grease EP2 from Shell.
Mechanical noise from any joint Check joint bearings for failure. Re-tension belt.
Loud buzzing or vibration from any joint Re-tension timing belts. If timing belt will not hold tension, replace.
Squeaking from Z belt
Apply thick grease to front and rear edges of belt, (Mobile 222
XP). Belt can get stiff over time and squeak against pulley
flanges.