1. When the robot generates a space out-of-range alarm signal
Solution:
Disconnect the servo and manually push each axis a certain distance, especially the Z axis cannot be a positive number.
2. Low voltage and abnormal main circuit power supply
Solution:
Check the magnetic ring of the controller to see if there is any problem. Replace or add a new magnetic ring. Check whether the 220V voltage is low.
3. Forward kinematics conversion error
Solution:
When this alarm occurs, you should check whether the Z-axis height is a positive number? Does any axis exceed plus or minus 360 degrees?
4. Overload
Solution:
First check which axis is reporting the alarm? Check whether the clamp of the z-axis is too heavy and whether the brakes are intact?
5.0072 alarm
Solution:
The 0x0072 alarm cannot be cleared directly through the alarm clear button. You need to write a specific value to the fixed register to clear it. The operation is as follows. For a single axis alarm, you need to go to the parameter editor to set the corresponding parameters separately
P2--08 setting 271
P2--71 setting 1 (it should be noted that after filling in the parameters, the corresponding axis origin will be lost, and the origin needs to be recalibrated)
6. User IO manual control DO cannot be controlled
Solution:
Check the user IO page to see if it is all planned by the user. If not, it means there is a bug in the software and needs to be set back manually.
7. After the robot servo is powered on, the servo light does not light up, but it can be inched.
Solution:
Check whether the green connector of the controller brake is connected correctly
8. Location detection abnormality
Solution:
Replace the encoder wire and open the front cover of the robot to check whether the axis alarm wire is loose, such as E4 and E3.
9. Overvoltage
Solution:
Replace the magnetic ring and check the voltage
10. Overcurrent
Solution:
Check whether there is a problem with the relay and whether there is any jamming when pushing a single axis.
11. The optical ruler is broken
Solution:
Check which axis is alarming, unplug and plug the corresponding encoder line and power line. The axis 1 wire is in the base, and axes 2, 3, and 4 are in the white shell. After unplugging and plugging, power on again, and it will report that the origin position is lost. Just reset it to the origin.