Joint (s) move
when ARM POWER
is applied
|
Board(s) not
securely seated
b Defective
board (s)
c Defective arm
cable
d Defective arm
harness
e Defective motor
|
a. Check all boards in card
cage to ensure secure
seating
b Replace boards in following
sequence, checking if problem
persists after replacement
1 Digital servo board
of affected joints
2 Power amplifier board
c Check arm cable lines of
affected joint for continuity
or shorts. Replace arm
cable if necessary
d Check arm harness lines of
affected joint for continuity
or shorts. Replace
arm cable if necessary
e. Replace motor of affected
joint
|
Joints 1, 2, and/or 3 do
not move with
ARM POWER
applied
|
a breaks not
released
b Missing (or low)
brake voltage
c Defective motor
brake (most
likely if only
one joint affected)
|
a Turn on enable brake
switch. Press brake
release push-button
b Check for presence of brake
pulse in arm cable connector
disconnected at robot end. If
missing, check again at controller
connector. Trace back to high
power function board if
necessary
c Replace affected motor
|
Joints 1, 2,
and/or 3 become
limp whenARM POWER
is removed
|
Defective motor
brake (most
likely if only
one joint affected)
|
Replace affected motor or
defective connection
|
Joint(s) do
not move in
TEACH mode;
move in RUN mode
|
a Defective teach
pendant
b Defective
console connector
for teach pendant
c Board(s) not
securely seated
d Defective
board(s)
e Faulty low
voltage power
supply
|
a Replace defective teach
pendant
b Check teach pendant
console connector for bent
or broken pins, loose
wiring, etc.
c Check all boards in card
cage to ensure secure
seating
d Replace boards in the following
sequence, checking
if problem presists after
each replacement
1 Quad serial interface
(DLV11-J)
2 Clock/terminator
board
e Check connector P23 for following voltage levels:
1 Pins 3 & 5 = +12 vdc
2 Pins 1 & 5 = -12 vdc
3 Pins 4 & 5= +5 vdc
NOTE
Lack of all voltage readings is indicative of a
blown low voltage power
supply fuse. Replace fuse
if necessary. Lack of a single voltage level is
probably caused by a bad connection
or defective power supply
|
Joint (s) do
not move in
RUN mode,
move in TEACH
mode
|
a Board (s) not
securely
seated
b Defective
board(s)
|
a Check all boards in card
cage to ensure secure
seating
b Replace boards in following
sequence, checking if problem
persists after each
replacement
1 Power amplifier control
board (if LED is lit)
2 Arm cable board (call RP Automation)
3 High power function
board (if no +/- 40 vdc to
power amp) ; (cal RP Automation)
4 Affected power amplifier
|
Joint (s) do
not move in
RUN mode and TEACH
modes
|
a Board (s) not
securely
seated
b Defective Board (s)
c. Defective arm
cable
d Defective arm
harness
e Defective motor
|
a Check all boards in card
cage to ensure secure
seating
b Replace boards in following
sequence, and check if
problem persists after
each replacement
1 Digital servo board
2 Servo interface board
3 Parallel interface board
4 EPROM board
5 LSI 11 board
6 Clock/terminator board
7 Power amplifier control
board
8 Arm cable board
(call RP Automation)
c Check all arm cable lines
for continuity or shorts
Replace arm cable if necessary
d Check all arm harness lines
for continuity or shorts
Replace arm harness if necessary
e Replace motor of affected
joint
|
Joint(s) not
aligning properly
at READY position
|
a Loose mechanical
drive components
b Defective motor
potentiometer
c Defective A to D
converter on
servo interface
board
d Wrong overlay being used
|
a Check for loose drive shaft
coupling, slipped gears,
etc. If looseness is found, place joint as close
to valid READY position as
possible, tighten mechanical
component, and perform
POTCAL. Create and
use an OVERLAY file
b Replace motor on affected
joint. Perform POTCAL
Create and use an
OVERRLAY file or request
RP Automation PROM
Burning service
c Replace "A" interface board.
perform POTCAL
Create and use and OVELAY file
d Use correct OVERLAY file
|
Arm moves to
misplaced
locations
|
a Arm not calibrated
b Faulty calibration
c Defective motor
potentiometer
d Wrong overlay
being used
|
a Calibrate arm
b Perform POTCAL. Create
and use an OVERLAY file
or request RP Automation
PROM burning service
c Replace motor on affected
joint. Perform POTCAL.
Create and use an OVERLAY
file or request RP Automation
PROM burning service
d Use correct OVERLAY file
|
Gripper fails
to operate
|
a No air pressure
b Missing (or low)
24vdc
c Defective solenoid
d Defective servo
interface board
e defective high
power function
board
f Bad pin on J99
|
a Check shop air source,
open supply valves, etc.
b Check for presence of 24vdc
at disconnected arm
end of arm cable. If 24vd
is present, reconnect cable
to arm and check for presence
of 24vdc at solenoid connecting
wires
c Grippper fails to operate
despite the presence of
air pressure and 24vdc
at solenoid, indicating
defective solenoid
Replace solenoid
d Replace defective board
e Replace defective board
call RP Automation
f Check pins on J99; replace
as necessary
|
