*ADC dead* Jt (n) |
Defective boards |
Replace boards in the following
sequence, checking if problem
priests after each replacement
1 Digital servo board for
indicated joint
2 "B" interface board
3 "A" interface board
Replace faulty board |
*ADC malfunction |
Malfunction in
analog input
module |
Attempt input again. If
error repeats, hardware
module should be replaced |
*ALTER aborted |
a Negative control
byte received;
computer cannot
enter ALTER mode
b Error occurs
while ALTER mode is active (more
than three communication
errors have occurred in
succession) |
a Check external computer to
ensure it is following
proper communications
protocol
b Check communications line
to ensure it is not excessively noisy |
*ARM POWER off* |
a ARM POWER is not
turned on
b System malfunction
|
a Turn on ARM POWER and
reenter last command
b See Symptom in Table 5-2
(ARM POWER does not come on)
|
*BAD POT Jt n*
|
a Faulty calibration
b Dirty or dry
potentiometer
c Faulty potentiometer
in indicated joint
d Faulty PC boards
|
a Run DIA POTCAL. Create
overlay as required
b Clean and lubricate potentiometer
c Replace entire motor assembly
on indicated joint
d Check seating. Replace
boards in the following
sequence and check problem
after each step:
1 "B" Interface board
3 "A" interface board
3 Digital servo board
Exchange boards to isolate fault
4 LSI-11 processor board
Replace faulty board
|
*Brake release
enabled
|
a Top panel switch
enabled
b Faulty toggle
switch
c Faulty PC
boards
|
a Move switch to OFF
position
b Check switch for continuity; replace switch
tray is faulty
c Check seating. Replace
boards in the following
sequence and recheck problem
after each step:
1 Power amplifier control
board
2 High power function
assembly (Call RP Automation)
3 "B" interface board
4 "A" interface board
Replace faulty board
|
*Calibration
will move our
of range*
Jt n
|
Arm to close to
end of range
|
Reposition arm using teach pendant
in JONT mode and repeat CALIBRATE command
|
*CHECKSUM Error*
|
a diskette is use is
defective
b Defective or loose floppy
drive connector
c Board(s) not securely seated
d Defective
board(s)
|
a Attempt same procedure
using known good diskette
b Check connection floppy drive
if connection good
check continuity of cable
Replace cable id necessary
c Check boards in card cage
for proper seating
d Replace boards in the following
sequence, checking if problem persists
after each replacement
1 Quad serial interface
(DLV11-J)
2 LSI_11 microprocessor
3 "B" interface board
4 CMOS board
|
*Clock overrun*
|
a Defective "B"
interface board
b Defective LSI-11
board
c LSI-11 affected
by electrical
noise
|
a Replace defective board
b Replace defective board
c Ensure all covers correctly
installed
|
*Communication
line already
in use*
|
Attempt is made to use a hardware
communication line
already in use for
another purpose
|
Use a different communication
line or discontinue its other use
|
*CPU ERROR*
Trap to (n1)
from kernel:
(n2) (log, phy)
(n3), (n4)
*CPU error*
Trap to (n1)
from user:
(n2) (log,phy)
(n2), (n4)
|
a bad read from
memory
b Electrical noise
on lines
c Defective board(s)
|
a Reset VAL II by typing
"1100G"
CAUTION
Responding wit a Y
will wipe out memory
b Isolate all high power or
high frequency lines as far
from robot as practical
In some rate instances such
lines may require additional shielding
c Replace boards in following
sequence, checking if problem
persists after each
replacement
1 LSI-11microporvessor board
2 CMOS board
Replace faulty board
|
*Data check error*
|
Transmission error
detected while
transferring information
to or from
external device
|
Attempt transfer again
|
*Device not ready*
|
Requested File
storage not prepared
to communicate
with VAL II
|
On Unimation floppy disk drive,
make sure drive is
plugged in, diskette is
inserted in drive, and it
is properly formatted
b Replace disk
|
*Directory Error*
|
a Incorrect disk,
not properly
installed, or
not formatted
b Damaged disk
|
a Make sure correct diskette
is used, it is properly
installed in drive, and it is
properly formatted
b Replace disk
|
*Envelope error*
Jt (n)
|
a Minor joint degeneracy
occurs when Jt5
is near o degrees,
therefore aligning
axes of Jt4 and Jt6
Error occurs as VAL
a temps to reposition Jt4 and 6
simultaneously for
tool orientation
b Major joint usable to
maintain position
along path of motion
c Major joint
runaway
d Minor joint
runaway
e Joint stalled
f Major joint
drop
|
a Reprogram arm; include offset
in Joint 5
WARNING
Befrore proceeding to item b
ensure that arm is properly
supported prier to releasing
joint brakes in FREE mode.
Failure to mechanically support
the arm will result in arm collapsing
b Ensure That payload (including
tooling) is within
specified limits. Place affected joint
in FREE mode; ensure that brake is
not dragging, and thatthere is no binding
of gears or bearings. Replace
power amplifier board and
retry move
c Check electrical connections of
affected jointCheck cables for
connections of affected hone Check
cables for continuity replace if faulty
Replace components in the
following sequence and recheck
problem after each step:
1 Digital servo board
Exchange boards to
isolate fault
2 Servomotor
3 Power amplifier
4 Low power interconnect cable
5 Arm harness
call RP Automation
6 Arm cable board
call RP Automation
Replace faulty component
d Check electrical connections
of affected joint
Check cables for continuity;
replace if faulty Replace
components in the following
sequence and recheck problem
after each step:
Digital servo board
2 Servomotor
3 Power amplifier
4 Low power interconnect cable
5 arm harness
call RP Automation
6 Arm cable board
call RP Automaton
Replace faulty component
e Free joint of restraint
f Check electrical connection
of affected joint
Check cables for continuity;
replace if faulty Replace
components in the following
sequence and recheck problem
after each step
1 Power amplifier
2 Low power interconnect cable
3 Arm harness
call RP Automation
4 Digital servo board
exchange boards to isolate fault
Replace faulty component
|
[FATAL]
|
|
NOTE
When [FATAL] appears on screen
it indicates that a sufficiently
serious problem had
developed to cause
the operation system to
shut down. For possible
system look up message
alphabetically
following word [FATAL]
|
*File already
open*
|
Last file not
completed successfully
disk door opened to soon |
Unplug disk drive from controller
monetarily so that it undergoes
a power upreset
|
*File format error*
|
a Request floppy
disk file not
created by software
b File is corrupted
|
a Use another diskette
b Reference anther file
|
*Force processor
not active*
|
a Force processing
hardware missing
b Force processing
hardware
malfunctioning
|
a Check that hardware is in
system If Missing
install hardware
b Replace with new hardware
(Force processing board etc)
|
*Function timeout*
Jt n
|
a Robot is blocked
and cannot reach
its destination
b Arm has run into a
hardware stop
c Current overload
circuit tripped
d Motor potenti-
ometer not prop-
erly zeroed
(possible loosed
potentiometer cap).
e Joint stalled,
arm unable to
move to program-
med location.
f Faulty electric
al interconnec-
tion.
g Faulty PC
board(s).
|
a Turn on ARMPOWER and try
motion again
b Change program steps or
locations as necessary to
avoid hardware stops
c Shut system down and allow
a few moments for cooling.
If problem persists, look
for shorts using standard
short isolation routines.
d Check potentiometer voltage
using procedure found in
Appendix A. If necessary,
zero potentiometer.
e Inspect operating envelope
for physical barriers.
Inspect drive train for
mechanical problems.
Inspect servomotor brake
systems.
f Check seating of ribbon
cable interconnecting "A"
interface board and servo
interface board.
Replace ribbon cable if
faulty.
g.Check seating. Replace
boards in the following
sequence and recheck prob-
lem after each step.
(1) Digital servo board.
Exchange boards to
isolate fault.
(2) "B" interface board.
(3) "A" interface board.
Replace faulty board.
|
*Hardware not
in system.
|
Hardware has not
been installed in
system, or hard-
ware malfunction-
ing.
|
Proceed as follows:
(1) Save necessary programs
and data.
(2) Turn off system.
(3) Install or repair hard-
ware module.
(4) If necessary, modify
programs so as not to
attempt access to this
hardware.
|
*Hardware prob-
lem in joint
1, 2, or 3*
*Hardware prob-
lem in joint
4, 5, 6*
|
a. Temperature
fault.
b. Faulty power
amplifier.
c. Faulty power
amplifier
control board.
d. Shorted servo-
motor.
|
a. Turn system off and allow
time for cooling; then
reinitialize.
b. Inspect controller top
panel and power amplifier.
If power amplifier assembly
is faulty, replace.
c. Check seating; replace
board if faulty.
d. Replace servomotor.
|
*Initialization error*
|
a. Current overload
circuit tripped.
b. Board(s) not
securely seated.
c. Defective
board(s).
d. Blown fuse in
low voltage
power supply
|
a. Shut system down and allow
a few moments for cooling.
If problem persists, look
for shorts using standard
short isolation routines.
b. Check boards in card cage
for proper seating.
c. Replace boards in the fol-
lowing sequence, checking
if problem persists after
each replacement.
(1) "B" interface board.
(2) CMOS board.
(3) Quad serial interface
board.
d. Check connector P23 at
CRT/TTY 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 voltage readings
are indicative of a blown
low voltage power supply
fuse. Replace fuse if
necessary.
|
*Logical unit
busy*
|
Internal error in
software.
|
Call RP Automation Field Service.
|
*Lost encoder
sync*
Jt (n)
|
a. Defective
encoder light
source.
b. Faulty encoder
disk.
c. Faulty digital
servo board.
d. Faulty arm cable
assembly.
e. Electrical
noise.
|
a. Replace motor on affected
joint.
b. Replace motor on affected
joint.
c. Check seating. Exchange
boards to isolate fault.
Replace faulty board.
d. Check seating; replace
assembly (call RP Automation
Field Service for assis-
tance).
e. Install shield from inter-
connecting cable.
|
*Memory error*
Address
(nnnnnn)
|
a. Operator error.
b. Weak CMOS
batteries.
c. CMOS board
defective or not
seated securely.
|
a. Check that no attempt has
been made to store data
beyond the capacity of the
CMOS memory.
b. Check CMOS battery charge.
Replace batteries if nec-
essary.
c. Check to ensure secure
seating of CMOS board.
Replace defective CMOS
board.
|
*Motor hot*
Jt (n)
|
Drive motor for
indicated joint
overheats.
|
Proceed as follows:
(1) Turn off ARM POWER to
allow motor to cool for
a few minutes.
(2) Turn on ARM POWER and
restart program.
(3) Reduce robot motion speed
or reduce carried load.
|
*Motor stalled*
Jt (n)
|
Robot arm
restrained from
moving to pro-
grammed position.
|
Free arm of restraint.
|
*Network closed*
|
a. Network has not opened.
b. Network closed
by supervisory
computer.
|
a. Open network or direct
device not to use network.
b. Reissue network opening
message packet from host.
|
*No blob*
(Univision)
|
No blob found
corresponding to
blob number given
in a TRAIN, VINFO,
or CLEARGRIP
command.
|
If no blob is found, use
PICTURE command to save new
camera image and use VINFO
to display list of all blobs
seen. If no blobs are listed
check for proper hardware
operation (e.g., use video
monitor to view image direc-
tly from camera).
If message resulted from
CLEARGRIP, make sure blob
number parameter given is
returned by a recent LOCATE
or FINDHEAP.
|
*No zero index*
Jt (n)
|
a. Defective digi-
tal servo board.
b. Defective
encoder.
|
a. Replace defective digital
servo board of affected joint.
b. Replace motor of affected
joint.
|
*Open failure*
|
a. Remote computer
is not respond-
ing.
b. Hardware problem
in communica-
tions line.
|
a. Check that remote computer
is working properly.
b. Check that communications
hardware is working prop-
erly. Retry command.
|
*Out of range*
Jt (n)
|
a. Arm outside of
or adjacent to
robot arm oper-
ating envelope.
b. Faulty poten-
tiometer.
c. Faulty electri-
cal interconnec-
tion in poten-
tiometer
signals.
d. Faulty PC
board(s).
|
a. Reposition arm.
b. Exchange harness connec-
tions to isolate servo-
motor. Clean and lubricate
potentiometer. Replace
servomotor if faulty.
c. Check cables for contin-
uity; replace if faulty.
If arm harness is faulty,
Call RP Automation Field Ser-
vice.
d. Check seating. Replace
boards in the following
sequence and recheck prob-
lem after each step:
(1) "B" interface board.
(2) "A" interface board.
(3) Digital servo board
Exchange boards to
isolate fault.
(4) LSI-11 processor board.
|
*Page fault
from kernals:
(n1) (log,phy)
(n2), (n3)
*Page fault
from user:
(n1) (log,phy)
(n2),(n3)
|
Bug in software.
|
Restart system software by
typing "1100G".
CAUTION
Responding with a Y will
wipe out memory.
Call RP Automation Field Service
and report what you were
doing when error occurred.
|
*Problem with
Amplifier C*
|
Hardware interface
to proportional
hand is malfunc-
tioning.
|
Call RP Automatiuon Field Service.
|
*Problem with
40 volt power*
|
a. Blown fuse on
high-power func-
tion assembly.
b. Faulty PC
board(s).
|
a. Replace fuse.
b. Check seating. Replace
faulty boards in the fol-
lowing sequence and re-
check problem after each
step:
(1) Power amplifier
assembly.
(2) Power amplifier con-
trol board.
(3) High-power function
board (call RP Automation
Field Service for
assistance).
Replace faulty board.
|
*Panic button pressed.*
|
OFF button on
teach pendant
pressed.
|
Reselect COMP mode on teach
pendant before resuming pro-
gram execution.
|
*Servo dead*
Jt (n)
|
a. Current overload
circuit tripped.
b. Overheated
amplifier.
c. Defective motor.
d. Defective
encoder.
e. Faulty elec-
trical connec-
tion.
f. Faulty PC
board(s).
|
a. Shut system down and allow
a few moments for cooling.
If problem persists, look
for shorts using standard
short isolation routines.
b. Shut system down and allow
a few moments for cooling.
If problem returns after a
short running period, the
ambient temperature may be
at fault and it may be nec-
essary to consider non-
standard cooling procedures
for the robot.
c. Replace motor on affected
joint.
d. Replace motor on affected
joint.
e. Check seating of ribbon
cable connecting "A"
interface board and "B"
interface board. Replace
ribbon cable if faulty.
f. Check seating. Replace
boards in the following
sequence and recheck pro-
blem after each step.
(1) Digital servo board.
(2) "B" interface board.
(3) "A" interface board.
|
*Servo RAM
error*
Jt (n)
|
Faulty digital
servo board.
|
Check seating. Exchange
boards to isolate fault.
Replace faulty board.
|
*Stopped due to
servoing
error*
|
One or more servo
errors.
|
Troubleshoot first error
described.
|
*Storage area
format error*
|
Momentary hard-
ware failure in
user data in RAM.
|
Attempt to save as much
data as possible onto
floppy disk.
|
*Supervisory
mode disabled*
|
Supervisory mode
is automatically
disabled and is
ready to accept
commands from the
local terminal.
|
Verify supervisory computer
is working properly. Use
ENABLE SUPERVISOR to reenter
supervisory mode.
|
*System clock
dead*
|
a. "B" interface
board not seated
properly or
defective.
b. Ribbon cable
faulty.
c. Ribbon cable
connections
faulty.
|
a. Check "B" interface board.
Replace board.
b. Replace cable.
c. Replace cable connections.
|
*Terminal interrupts dead*
|
Empty backplane
slots between CPU
module and serial
I/O modules.
|
Check board installation to
ensure proper board place-
ment in card cage.
|
*Too many
blobs*
(Univision)
|
a. Most recent pic-
ture contains
more than 11
blobs.
b. Both BLACK and
WHITE switches
enabled.
c. Picture noisy.
d. Scene too
complex.
|
a. Use VINFO command to list
all blobs in current
camera image.
b. Disable one switch.
c. Adjust camera aperture and
focus MINBLOB variable in
system, or threshold
setting.
d. Remove extraneous material
from camera range.
|
*Unknown FPS
error*
|
CPU computer
module malfunc-
tioning.
|
Shut system down and reseat
CPU in card cage.
If problem persists, replace
CPU board.
|
*Unknown net-
work error*
|
Remote computer
not sending valid
data.
|
Refer to Supervisory
Communications Manual, User's
Guide to VAL II, Part 2.
|
*Unknown proto-
type*
(Univision)
|
Unknown prototype
name used.
|
Use VINFO command to display
list of all prototypes
defined. If necessary,
VDEFINE and TRAIN a new
prototype.
|
*Vision not
enabled*
(Univision)
|
Vision switch not
enabled.
|
Issue "ENABLE VISION" command
or include it in the user
program before first occur-
rence of vision instruction.
|
*Vision time-
out*
(Univision)
|
Communication
problem between
software and MIC
vision system.
|
Retry preceding vision com-
mand or instruction. If
error repeats, refer to fol-
lowing *Version system
error*.
|
*Vision system
error*
(Univision)
|
Error within MIC
vision system
operating program.
|
Reload MIC vision system and
try again. If error repeats,
call RP Automation Field Service.
|
*Wait with
logical unit
idle*
|
Internal error in
software.
|
Report error to RP Automation.
Include exactly what you were
doing when error occurred.
|
