HW1484764
Troubleshooting
6-1
HW1484764
6. Troubleshooting
This chapter contains troubleshooting instructions.
If an alarm occurs, refer also to the "Alarm List" in Chapter 7.
A protective stop against external
forces always occurs near singularity,
making it impossible to operate the
manipulator.
Temporarily disable the PFL function and move the
manipulator away from near the singularity.
An external force error is likely to occur near singularity. In
particular when the TCP passes near the rotating shaft for
each axis, the error becomes larger.
Move the TCP away from the center of rotation.
The "multi-axis operation limit in progress" signal (#81712) is
output near singularity. Connecting this signal to the PP
buzzer (#40257) through the concurrent I/O improves
recognition in a teaching process.
A protective stop occurs when no
force or a weak force is applied.
First, check if the tool mass is set correctly.
If the problem continues, adjust the torque sensor home
position over again.
An escape from clamping occurs
when not in clamping state.
The escape from clamping function
does not operate when obviously in
clamping state.
ALARM 1926, TRQ SENSOR
RECEIVING ERROR occurs
repeatedly.
A noise source may exist near the manipulator.
Protect the manipulator from noise by, for example, installing
the torque sensor cable and the manipulator cable away from
each other.
The avoidance function does not
work.
The avoidance function does not work if the external forces
acting on the manipulator are larger than the start threshold
for the avoidance function and you attempt to enable the
avoidance function. Increase the start threshold. Or check the
tool file settings.
The tool or other object is clamped
(stuck) during contacting work,
causing the forces to act continuously
and the escape from clamping
function does not work.
Temporarily disable collaborative operation (muting) with
reference to Section 3.3 and then use the escape from
clamping function.
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