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6. Trobleshooting
6-3
6.2. Trouble Symptoms and Possible Causes
As shown in [table 6-1], there may be many parts as the cause of one phenomenon.
Refer to next page to determine which part is malfunction.
Table 6-1 Trouble phenomenon and cause
Defect parts
Trouble phenomenon
Reduction
gear
Brake Motor Encoder
Fulcrum
bearing
Overload [Note1]
○ ○ ○ ○
Displacement ○ ○ ○
Abnormal sound occurrence ○ ○ ○ ○
Noise in operation [Note 2]
○ ○
Staggering at stop [Note 3]
○ ○ ○
Irregular twitching [Note 4]
○ ○ ○
Abnormal deviation ○ ○
Free fall of an axis ○ ○
Overheating ○ ○ ○ ○
Incorrect action and out of
controll movement
○ ○
[Note 1] Overload --------- Phenomenon occurring when a load exceeds the rated
motor load. In specific, thermal relay of circuit protector
is tripped.
[Note 2] Noise in operation -- Phenomenon which occurs vibration on operation.
[Note 3] Staggering at stop - Phenomenon which gives oscillating motion when the
robot stops.
[Note 4] Irregular twitching --- Phenomenon which gives sporadic twitching when the
robot is not in motion.