三、 毛病事例剖析
機器人操控器斷電維修后，對操控器送電，機器人報伺服毛病，毛病代碼為SERVO-062。對此毛病進行復(fù)位：按MENUS→SYSTEM→F1,[TYPE]→找 master/cal→F3，RES_PCA →F4,YES 后，機器人依然報伺服毛病。
1、毛病剖析和查看：毛病代碼SERVO-062的解釋為SERVO2 BZAL alarm(Group:%d Axis:%d)，毛病也許要素剖析如下：
1) 機器人編碼器上數(shù)據(jù)存儲的電池無電或者現(xiàn)已損壞：拆開編碼器脈沖數(shù)據(jù)存儲的電池安裝盒，電池盒內(nèi)裝有4節(jié)一般1.5V的1號干電池，對每節(jié)電池的電壓進行丈量，均在1.4V以下，電池電壓顯著偏低，所以替換新電池，再次對毛病進行復(fù)位，機器人依然報SERVO-062毛病。
2) 操控器內(nèi)伺服放大器操控板壞：查看伺服放大器LED“D7”上方的2個DC鏈路電壓查看螺絲，承認DC鏈路電壓。如果查看到的DC鏈路電壓高于50V，就可判別伺服放大器操控板處于反常狀況。實踐查看發(fā)現(xiàn)DC鏈路電壓低于50V，所以初步判別伺服放大器操控板處于正常狀況。 進一步對伺服放大器操控板上P5V、P3.3V、SVEMG、OPEN的LED色彩進行調(diào)查，承認電源電壓輸出正常，沒有外部緊迫中止信號輸入，與機器人主板通訊也正常，掃除伺服放大器操控板損壞。
3) 線路損壞：對機器人操控器與機器人本體的外部電纜連線RM1、RP1進行查看，RM1為機器人伺服電機電源、抱閘操控線，RP1為機器人伺服電機編碼器信號以及操控電源線路、結(jié)尾執(zhí)行器線路、編碼器上數(shù)據(jù)存儲的電池線路等線路。拔掉插頭RP1，對端子5、6、18 用萬用表丈量+5V、+24V操控電源均正常。接下來對編碼器上數(shù)據(jù)存儲的電池線路進行查看。機器人每個軸的伺服電機脈沖編碼器操控端由1-10個端子構(gòu)成，端子8、9、10為+5V電源，端子4、7為數(shù)據(jù)保持電池電源，端子5、6為反應(yīng)信號，端子3為接地，端子1、2空。拔掉M1電機的脈沖操控插頭M1P，萬用表丈量端子4、7，電壓為0，相同的辦法查看M2~M7電機悉數(shù)為0，由此能夠判別編碼器上數(shù)據(jù)存儲的電池線路損壞。順著線路，發(fā)現(xiàn)正負電源雙絞線的一端插頭長時間埋在積水中，線路已腐蝕嚴峻。
2、毛病處理：替換線路后復(fù)位，對機器人進行全軸零點復(fù)歸“ZERO POSITION  MASTER”，導(dǎo)入備份程序后康復(fù)正常，毛病掃除。

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