Strasbaugh nTellect 7AF - Page 2369

Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
103
SVON
command OK
but no power to
motor(s)
Unsecured
connection of
external power
cable (usually
no servo to any
motors)
Secure cable connections
Bad amplifier
module(s)
(usually only
one of the three
motors)
Replace amplifier board
(use Diagnostics step #7
to determine the failing
axis).
Axis cannnot
HOME
Axis moves but
stops at its
negative hard
stop and loses
servo
Limit switch is
not working
Bits 4
and 10
Perform diagnostics step
#4 to determine the
failing limit switch.
Replace limit switch
assembly. If problem
persists, replace flex-
PCB.
Axis moves but
stops at random
position and
retains servo
Intermittent
false-positive
signal generated
by home switch
Bit 5 Send RLS to determine
which axis. Replace
limit switch assembly.
Axis moves but
stops at random
position and
loses servo
Servo is too
weak
Bits 4
and 10
Check servo parameters
(GN, TL, and ER).
Increase associated
parameters.
Axis moves but
stops at certain
position range
and loses servo
Mechanical
friction is too
high
Bits 4
and 10
Check all transmissions
along the axis. Make
sure belts are not too
tight and bearings move
smoothly.
Axis moves but
stops at its
positive hard
stop
Home switch is
active all the
time
B5, B9 Send RLS to determine
which axis. Replace
limit switch assembly.
Axis does not
move at all
Positive and
Home switches
are active all the
time
Bits 5
and 9
Send RLS to determine
which axis. Replace
limit switch assembly.
Robot stops
during normal
operation
Axis stops at
random position
but retains servo
False -positive
signal generated
by limit switch
Bit 5 Send RLS to determine
which axis. Replace
limit switch assembly.
Axis stops at
random position
and loses servo
Speed is too fast
for error limit
setup
Bits 4
and 10
Increase error limit setup