Analysis of breakdown of robot of FANUC spot welding and eliminate

A dry cell of 5V, measure every batteries voltage, all ＜ 1.

4V, voltage is apparent on the low side, change then new battery, undertake restoration to breakdown again, still sign up for SERVO-062 breakdown. Control plate of amplifier of the servo inside ② controller is bad. Measure servo amplifier LED " D7 " the voltage of 2 DC link of upper part detects screw, if 50V of ＞ of DC link voltage, can judge servo amplifier control plate unusual. Actual measurement discovers 50V of ＜ of DC link voltage, so control plate of amplifier of preliminary judgement servo is in whack. Observe the P5V on servo amplifier control plate, P3.

The LED color of 3V, SVEMG, OPEN, affirm output of power source voltage is normal, without input of exterior and urgent break alarm, with the robot advocate board communication is normal also, eliminate damage of servo amplifier control plate. ③ circuitry damages. RM1 of the noumenal to robot controller and robot exterior cable that connect a line, RP1 undertakes checking, RM1 is the power source of robot servo electric machinery, control line that hold brake in the arms, RP1 is the circuitry such as the batteries that the data on signal of coder of robot servo electric machinery and control power source, end-effector, coder stores. Unplug plug RP1, measure terminal 5, 6, voltage of 18 control power source + 5V, + 24V all normal. The cell line that the data on reexamination coder stores, and the control of coder of pulse of servo electric machinery of every axis carries the robot by 1 ～ 10 terminal are comprised, terminal 8, 9, 10 for + 5V power source, 4, 7 amount to are occupied maintain batteries power supply, 5, 6 for feedback signal, 3 for ground connection, 1, 2 sky. Unplug the pulse of M1 electric machinery controls plug M1P first, measure terminal 4, 7 voltage are 0, electric machinery of same M7 of ～ of methodological examination M2 is entirely 0, the cell line that can judge the data on coder to store from this damages. Via checking, discover the outlet of one aspect of the matter that losing power source double skeining thread is buried for a long time in seeper, circuit already was corroded serious. Change the restoration after circuit, undertake complete axis to the robot at 0 o'clock revert " ZEROPOSITIONMASTER " , guide return to normal after backup program, trouble removal. When robot of spot welding of exemple 2 FANUCR-2000iB/210F is producing the first white automobile body, appear deflection of all body of solder o'clock sharp, follow-up birth case is similar, call the police without any breakdown. According to breakdown phenomenon, can remove servo part trouble roughly, hitch is possible reason: ① robot noumenon or machinery of robot solder clamp are out of shape or deflection. According to maintenance experience, check robot noumenon and share of machinery of robot solder clamp first, did not discover unusual. ② distorts artificially PNS0010 program or guide wrong PNS0010 program. Show through the robot religion implement the modification date that examines PNS0010 program, discover PNS0010 program was not revised. Guide after newest PNS0010 program, breakdown phenomenon exists as before. Coordinate of ③ robot tool is fluctuant. Enter systematic backup order to the robot undertakes initialization and guiding by the following measure: Disconnect controller power source, open controller power source to be pressed at the same time show religion implement → of 1 → MENUS inserts 3 → of the F1 that go up and F5 function key → MC memory blocks → 4, variables → 72, undertake naming to the robot, the folder name of program of backup of system of the storage in ensuring robot name and MC memory get stuck is uniform → MENUS → 5, file → F4, [RESTOR] → 5, allofabove → F4, [YES] → presses FCTN function key → 1, START(COLD) , breakdown phenomenon disappears. Enter systematic backup order to the robot undertakes initialization and guiding, show again after cold start-up religion, trouble removal. 6 axes of exemple 3 FANUCR-2000iB/165F nod solder robot to be versed in J4 arm appears to glide automatically in making a process phenomenon, the robot signs up for servo breakdown, breakdown code is SERVO-023, code explanation is: SERVOStoperrorexcess (Group: %1Axis: %4) , when electric machinery stops, produce mistake of position of an excessive servo. Stop the robot to be when aleatoric position, j4 axis has the robot to glide automatically phenomenon, other 5 axes all normal, affirm attribute breakdown of robot J4 axis. Just had changed oil as a result of reducer of axis of J1 ～ J6, breakdown reason may be robot servo electric machinery sealed wear away, bring about into oil inside electric machinery hold brake in the arms undesirable, secure the robot. Change after electric machinery of servo of J4 axis M4, to its J4 axis does monaxial at 0 o'clock revert " SINGLEAXISMASTER " , try the trouble removal after moving. CNC Milling CNC Machining