PreCise PF400 - Recommended Action

PreciseFlex_Robot
92
Symptom Recommended Action
S
y
stem error messa
g
e
g
enerated
“ESTOP not Enabled” Check both Phoenix plu
g
and 9 pin Dsub for Estop
j
umpers.
“Encoder Batter
y
Low” Replace absolute encoder batter
y
in base of robo
t
“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 quickl
y
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 rin
g
. Replace motor/encoder
(
onl
y
Gripper motor
)
.
"Missin
g
zero index" See "Encoder quadrature error"
“Motor dut
y
c
y
cle exceeded” Reduce speed or acceleration of robot. Check for instabilit
y
.
“Amplifier under voltage”
Motor power supply has reached current limit and shutdown. Slow
down robot. Check Ener
gy
Dump PCA. Replace 48V suppl
y
.
“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
g
ripper repeatedl
y
, replace slip rin
g
.
“Hard Envelope Error” T
y
picall
y
means robot has crashed into somethin
g
.
Pneumatic Gripper Sensor not working
Check continuity of cable through wrist. Check green lights on
sensor to see if sensor is tri
gg
erin
g
.
“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 rin
g
after checkin
g
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 pro
g
ram for commanded position.
“PAC Files Corrupted” See recoverin
g
from corrupted PAC Files
Ph
y
sical 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
A
lvania Grease EP2 from Shell.
Mechanical noise from an
y
j
oint Check
j
oint bearin
g
s for failure. Re-tension belt.
Loud buzzin
g
or vibration from an
y
j
oint Re-tension timin
g
belts. If timin
g
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
flan
g
es.