11. Robot jitter?
Diagnostic process:
Due to the difference between the jitter area and the amount of jitter, the diagnosis of jitter becomes a difficulty.
At this stage, the diagnostic method is to replace the amplifier, replace the motor, and replace the reducer one by one.
Improvement method: comprehensive judgment is made by current and voltage detection, iron powder concentration detection, robot gap detection and other methods.
Solution:
1. Check the operation of each axis;
2. Confirm the shaft caused by jitter;
3. Confirm whether it is an electrical or mechanical problem.
12. What is the trajectory error of the robot?
Cause:
1. Trajectory bias processing;
2. Phenomenon: Robot mechanical failure;
3. The base is unstable;
4. External tooling position deviation;
5. The workpiece is inconsistent;
6. The installation of welding guns and other tools is unstable.
Solution:
This fault is a soft fault and requires a period of observation to accurately diagnose it.
Specific steps:
1. Do a good job of checkpoints and judge the possible causes;
2. Deal with each item from the possible causes;
3. Find the final cause of the repair.
13. Where the robot is falling (very dangerous)?
Cause:
1. Improper maintenance;
2. Corrosive wear;
3. Fatigue wear.
Solution:
Confirm the status of the fall, the amount of fall, and the alarm status.
Whereabouts Status:
The upper servo falls, and the upper servo falls.
Falls:
Falling all the time, or falling for a period of time to stop.
Alarm Status:
Whereabouts alarm, whereabouts do not alarm.
14. Robot electrical fault?
Cause:
The main reason is that the motor current is unstable, which causes the motor output torque to be unstable, resulting in jitter.
15. Is the motor current unstable?
The main reasons:
1. Motor failure;
2. Amplifier failure;
3. Faulty connection cable.
16. Mechanical failure?
Cause:
Under the condition that the output torque of the motor is stable, the load of the transmission mechanical parts to the motor is unstable, resulting in jitter mechanical failure.
Solution:
Find out whether it is a reducer failure or a bearing failure, and then solve it in a targeted manner.
17. Servo tracking error alarm?
Cause:
1. Communicate → consult the status of the operation and the status of the alarm;
2. Diagnosis→ through the maximum torque and on-site condition diagnosis;
3. Maintenance → make a maintenance plan.
Solution:
1. Confirm that the brake is open (you can hear the sound of the brake opening);
2. Check the oil condition (open the oil outlet for sampling and inspection);
3. Remove the motor for diagnosis (remove the motor and rotate the electricity separately).
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