Difference between revisions of "Troubleshooting Recovery"
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== SETUP == | == SETUP == | ||
| − | === | + | === Set IP Address === |
To connect via ethernet to the embedded computer the IP adress of the PC has to be set to e.g. 192.168.3.1. Follow according guides in the web. | To connect via ethernet to the embedded computer the IP adress of the PC has to be set to e.g. 192.168.3.1. Follow according guides in the web. | ||
| − | The embedded computer comes with IP 192.168.3.11. | + | The embedded computer comes with IP 192.168.3.11. [[Change Network Address of Embedded Linux PC|This article]] explains how to change it. |
| Line 13: | Line 13: | ||
---- | ---- | ||
| + | |||
== OPERATION == | == OPERATION == | ||
| − | === | + | === Referencing === |
When the robot is not referenced cartesian motions and program replay are not allowed. | When the robot is not referenced cartesian motions and program replay are not allowed. | ||
Reference the robot, see the documentation for details. | Reference the robot, see the documentation for details. | ||
| − | === | + | If the referencing procedure fails please check this article: [[Troubleshooting Referencing Issues]] |
| + | |||
| + | === Reset and Enable === | ||
Press "Reset" and "Enable" buttons. A position lag error is normal after startup and referencing. | Press "Reset" and "Enable" buttons. A position lag error is normal after startup and referencing. | ||
| − | === | + | === Referencing Joint5 === |
When the referencing pin is too far away from the sensor the referencing takes long or might fail. | When the referencing pin is too far away from the sensor the referencing takes long or might fail. | ||
Manually position the referencing pin close to the sensor before starting the referencing. | Manually position the referencing pin close to the sensor before starting the referencing. | ||
| − | === | + | === Load Correct Project === |
When a wrong robot project is loaded the cartesian motions may not be correct. | When a wrong robot project is loaded the cartesian motions may not be correct. | ||
Check if the loaded project fits to the used robot and load the correct one. | Check if the loaded project fits to the used robot and load the correct one. | ||
| − | === | + | === Define Zero Positions === |
If the zero positions are not correcly defined carteisn motions might be inaccurate. | If the zero positions are not correcly defined carteisn motions might be inaccurate. | ||
| Line 46: | Line 49: | ||
== MECHANICS / CABLES == | == MECHANICS / CABLES == | ||
| − | === | + | === Broken Connections === |
Check cables for broken connections or swapped connectors / cables. | Check cables for broken connections or swapped connectors / cables. | ||
| − | === | + | === Reverse Encoder Direction === |
Check if the encoder direction has to be changed in the amp firmware. | Check if the encoder direction has to be changed in the amp firmware. | ||
| − | === | + | === Loose Clutch === |
The clutch between the motor and the gear might be loose. | The clutch between the motor and the gear might be loose. | ||
Turn the motor so that the screws can be accessed through the holes in the sheet metal around the clutch. Fasten the screws of the clutch. Apply loctite. | Turn the motor so that the screws can be accessed through the holes in the sheet metal around the clutch. Fasten the screws of the clutch. Apply loctite. | ||
| − | === | + | === Add Lubricant === |
Add lubricant to the clutch to minimize motion sounds. | Add lubricant to the clutch to minimize motion sounds. | ||
| − | === | + | === Replace Gear === |
The worm gear might be broken. Replace the broken part. | The worm gear might be broken. Replace the broken part. | ||
| − | === | + | === Reduce Sensor Distance === |
The distance between reference shensor and activating sheet metal might be too large. Reduce this distance. | The distance between reference shensor and activating sheet metal might be too large. Reduce this distance. | ||
| − | === | + | === Change Referencing Direction === |
The referencing direction if defined in the amp parameter by the entries RefSpeed and RefSpeedSlow. The referencing direction is reversed by changing the velocity from + to -, or otherwise around. | The referencing direction if defined in the amp parameter by the entries RefSpeed and RefSpeedSlow. The referencing direction is reversed by changing the velocity from + to -, or otherwise around. | ||
| Line 74: | Line 77: | ||
== ELECTRONICS == | == ELECTRONICS == | ||
| − | === | + | === Release Emergency Stop === |
Release the emergency stop and retry. | Release the emergency stop and retry. | ||
| − | === | + | === Check Motor Bridge === |
Check if the motor bridge cable to and from an E-Stop relay is in place. | Check if the motor bridge cable to and from an E-Stop relay is in place. | ||
| − | === | + | === Motor Stall === |
The motor current is not high enough. | The motor current is not high enough. | ||
| − | Increase the amp firmware parameter CSLoad and CSStart. | + | [[Firmware Parameter Configuration|Increase the amp firmware parameter CSLoad and CSStart.]] |
| − | === | + | === Motor Overheating === |
The motor current is too high, the motor gets too hot. | The motor current is too high, the motor gets too hot. | ||
| − | Decrease the amp firmware parameter CSLoad, CSStart and CSIdle. | + | [[Firmware Parameter Configuration|Decrease the amp firmware parameter CSLoad, CSStart and CSIdle]]. |
| − | === | + | === Electronics Overheating === |
| + | The electronic modules switch off when reaching a specific temperature. This temperature is set by the firmware parameter maxTemp. | ||
| + | |||
| + | When the modules get into the error state "EStop / Temp" due to variations in the temperature measurement you can increase the temp parameter. When the maxTemp parameter is set to 0 the temperature monitoring is switched off. | ||
| + | |||
| + | === Fan Malfunction === | ||
| + | When the fan on the motor modules is not working they might get too hot. The error code after stopping will be "EStop / Temp". | ||
| + | |||
| + | Check if the fan module is attached correctly to the modules and if the fan is running. | ||
| + | |||
| + | === Wrong CAN ID === | ||
Check the adress switch on top of the electronic modules. | Check the adress switch on top of the electronic modules. | ||
| Line 97: | Line 110: | ||
Digital IO modules should be 0, 2, 4. | Digital IO modules should be 0, 2, 4. | ||
| − | === | + | === Firmware Parameter === |
Adapt the firmware parameter | Adapt the firmware parameter | ||
| − | === | + | === Defect Electronic Module === |
Test another electronic module by swapping the connectors (not hot swapping, switch the robot control off before swapping). Check if the motor works with the new module it is connected to now. | Test another electronic module by swapping the connectors (not hot swapping, switch the robot control off before swapping). Check if the motor works with the new module it is connected to now. | ||
Replace the electronics module if it is the reason for the problem. | Replace the electronics module if it is the reason for the problem. | ||
| − | === | + | === Corrupt SD Card === |
Information on the SD card of the display is missing. | Information on the SD card of the display is missing. | ||
Replace the SD card. | Replace the SD card. | ||
| + | |||
| + | === Check Power Supply === | ||
| + | If there is power on a module the green LED of the module should be on. If it is not on check the following: | ||
| + | |||
| + | Check if there is power provided to the supply module | ||
| + | |||
| + | If not, check the fuse and the power lines. | ||
| + | [[Category:Support]][[Category:CPRog]][[Category:TinyCtrl]] | ||
Latest revision as of 09:21, 15 October 2021
Back to Troubleshooting...
SETUP
Set IP Address
To connect via ethernet to the embedded computer the IP adress of the PC has to be set to e.g. 192.168.3.1. Follow according guides in the web.
The embedded computer comes with IP 192.168.3.11. This article explains how to change it.
OPERATION
Referencing
When the robot is not referenced cartesian motions and program replay are not allowed.
Reference the robot, see the documentation for details.
If the referencing procedure fails please check this article: Troubleshooting Referencing Issues
Reset and Enable
Press "Reset" and "Enable" buttons. A position lag error is normal after startup and referencing.
Referencing Joint5
When the referencing pin is too far away from the sensor the referencing takes long or might fail.
Manually position the referencing pin close to the sensor before starting the referencing.
Load Correct Project
When a wrong robot project is loaded the cartesian motions may not be correct.
Check if the loaded project fits to the used robot and load the correct one.
Define Zero Positions
If the zero positions are not correcly defined carteisn motions might be inaccurate.
To check perform a referencing and the move the joint to zero. Now the robot should be in a vertical / horizontal position referring to the joint holes.
If this is not the case adapt the offset in the amp parameter following the guide on the wiki.
MECHANICS / CABLES
Broken Connections
Check cables for broken connections or swapped connectors / cables.
Reverse Encoder Direction
Check if the encoder direction has to be changed in the amp firmware.
Loose Clutch
The clutch between the motor and the gear might be loose.
Turn the motor so that the screws can be accessed through the holes in the sheet metal around the clutch. Fasten the screws of the clutch. Apply loctite.
Add Lubricant
Add lubricant to the clutch to minimize motion sounds.
Replace Gear
The worm gear might be broken. Replace the broken part.
Reduce Sensor Distance
The distance between reference shensor and activating sheet metal might be too large. Reduce this distance.
Change Referencing Direction
The referencing direction if defined in the amp parameter by the entries RefSpeed and RefSpeedSlow. The referencing direction is reversed by changing the velocity from + to -, or otherwise around.
ELECTRONICS
Release Emergency Stop
Release the emergency stop and retry.
Check Motor Bridge
Check if the motor bridge cable to and from an E-Stop relay is in place.
Motor Stall
The motor current is not high enough.
Increase the amp firmware parameter CSLoad and CSStart.
Motor Overheating
The motor current is too high, the motor gets too hot.
Decrease the amp firmware parameter CSLoad, CSStart and CSIdle.
Electronics Overheating
The electronic modules switch off when reaching a specific temperature. This temperature is set by the firmware parameter maxTemp.
When the modules get into the error state "EStop / Temp" due to variations in the temperature measurement you can increase the temp parameter. When the maxTemp parameter is set to 0 the temperature monitoring is switched off.
Fan Malfunction
When the fan on the motor modules is not working they might get too hot. The error code after stopping will be "EStop / Temp".
Check if the fan module is attached correctly to the modules and if the fan is running.
Wrong CAN ID
Check the adress switch on top of the electronic modules.
Motor modules should be 0, 2, 4, 6, 8.
Digital IO modules should be 0, 2, 4.
Firmware Parameter
Adapt the firmware parameter
Defect Electronic Module
Test another electronic module by swapping the connectors (not hot swapping, switch the robot control off before swapping). Check if the motor works with the new module it is connected to now. Replace the electronics module if it is the reason for the problem.
Corrupt SD Card
Information on the SD card of the display is missing.
Replace the SD card.
Check Power Supply
If there is power on a module the green LED of the module should be on. If it is not on check the following:
Check if there is power provided to the supply module
If not, check the fuse and the power lines.
