Introduction to Yamaha Robot's fault judgment

Don't panic when the robot has a problem during the working process, if the fault is not caused by the controller, then the cause of the fault must be the damage to the machine parts. In order to deal with the problem as quickly as possible and in a simple way, the problem should be analyzed. And the need to find out which part is causing the problem. Please follow the following procedure for simple viewing and protection:

Introduction to Yamaha Robot's fault judgment

Introduction to Yamaha Robot's fault judgment

**Step 1: Which axis presents the problem?

First, check which axis is causing the problem. If it is difficult to detect the fault, check whether there are any of the following machine abnormalities that may be present.

(1) Is there a part announcing noise?

(2) Are there any parts that are overheating?

(3) Are there any parts that are loose or have recoil?

**Step 2: Which part is damaged?

If an abnormal shaft is detected, see which part is causing the problem. There are many possible causes for the same phenomenon.

Note:

1) Overload – The phenomenon is presented when the load exceeds the rated motor load. Specifically, a thermal relay that triggers the coil protector.

2) Noise during operation – the phenomenon is vibration during operation.

3) Shake on Abort – The phenomenon is that the robot wobbles when it is aborted.

4) Irregular trembling – The phenomenon is that there is a sporadic tremor when the robot is not moving.

**Step 3: After dealing with the defective parts, after investigating and dealing with the defective parts, perform the relevant repair process according to the "primary component defect diagnosis and treatment".

Diagnosis and treatment of primary component defects

The main parts of industrial robots include reduction gears, braking equipment, motors, encoders, etc., and reduction gears are the most common problems in the parts and components, followed by brake equipment, motors and encoders.

When the reduction gear is damaged, it will vibrate or announce abnormal movements. In this case, it can cause overloads and abnormal deviations that disrupt normal operation. Sometimes it can also cause overheating. The robot may not be able to move at all, or it may exhibit an azimuth error. These causes may be caused by damage to the reduction gear spindle (S, H, V) or wrist shaft (R2, B, R1). How to confirm whether it is the main shaft or wrist shaft damage?

A few steps of detailed diagnosis are required:

(1) When the robot is working, check whether the reduction gear is sensational, abnormal or overheated.

(2) Check whether the reduction gear is loose and worn. Turn the brake release switch of the S axis in the direction of *** [open], swing *** a mechanical arm in the direction of front and back, and then check whether there is any abnormality with your hands.

(3) Check whether the peripheral equipment has been connected with the robot before the abnormal phenomenon occurs. (Damage to the reduction gear may be caused by the joint.) )

(4) Shake the end performer (such as welding *** and hand equipment, etc.) back and forth to see if the reduction gear is loose.

(5) Close the motor, turn on the brake release switch at the same time, and check whether the shaft can be rotated by hand. If not, it means that the reduction gear is not in good condition.

(6) Check whether the peripheral equipment has been connected with the robot before the abnormal phenomenon occurs. (Damage to the reduction gear may be caused by the joint.) )

After confirming the diagnosis according to this process, it is possible to confirm whether the main shaft or wrist axis is damaged, and when the direction of the damage is confirmed, the needle will treat it accordingly. If the spindle needs to replace the reduction gear, a crane is required to lift and suspend the robot arm. In addition to replacing the reduction gear, the wrist shaft can also replace the entire mechanical wrist part, and the replacement of the whole mechanical wrist part is a quick and reliable processing scheme, because the replacement of the reduction gear requires time and some necessary equipment.

Introduction to Yamaha Robot's fault judgment

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