三、 毛病事例剖析
機(jī)器人操控器斷電維修后，對(duì)操控器送電，機(jī)器人報(bào)伺服毛病，毛病代碼為SERVO-062。對(duì)此毛病進(jìn)行復(fù)位：按MENUS→SYSTEM→F1,[TYPE]→找 master/cal→F3，RES_PCA →F4,YES 后，機(jī)器人依然報(bào)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(jī)器人編碼器上數(shù)據(jù)存儲(chǔ)的電池?zé)o電或者現(xiàn)已損壞：拆開編碼器脈沖數(shù)據(jù)存儲(chǔ)的電池安裝盒，電池盒內(nèi)裝有4節(jié)一般1.5V的1號(hào)干電池，對(duì)每節(jié)電池的電壓進(jìn)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(duì)毛病進(jìn)行復(fù)位，機(jī)器人依然報(bào)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(gè)DC鏈路電壓查看螺絲，承認(rèn)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(shí)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(jìn)一步對(duì)伺服放大器操控板上P5V、P3.3V、SVEMG、OPEN的LED色彩進(jìn)行調(diào)查，承認(rèn)電源電壓輸出正常，沒有外部緊迫中止信號(hào)輸入，與機(jī)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(duì)機(jī)器人操控器與機(jī)器人本體的外部電纜連線RM1、RP1進(jìn)行查看，RM1為機(jī)器人伺服電機(jī)電源、抱閘操控線，RP1為機(jī)器人伺服電機(jī)編碼器信號(hào)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(chǔ)的電池線路等線路。拔掉插頭RP1，對(duì)端子5、6、18 用萬用表丈量+5V、+24V操控電源均正常。接下來對(duì)編碼器上數(shù)據(jù)存儲(chǔ)的電池線路進(jìn)行查看。機(jī)器人每個(gè)軸的伺服電機(jī)脈沖編碼器操控端由1-10個(gè)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(hào)，端子3為接地，端子1、2空。拔掉M1電機(jī)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(jī)悉數(shù)為0，由此能夠判別編碼器上數(shù)據(jù)存儲(chǔ)的電池線路損壞。順著線路，發(fā)現(xiàn)正負(fù)電源雙絞線的一端插頭長時(shí)間埋在積水中，線路已腐蝕嚴(yán)峻。
2、毛病處理：替換線路后復(fù)位，對(duì)機(jī)器人進(jìn)行全軸零點(diǎn)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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