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6. Trobleshooting
6-9
6.3.5. Encoder
Position offset, malfunction, and out of control movement as well as staggering at
stop, irregular twitching may occur when the Encoder is in bad condition. This case
has nothing to do with such phenomena as mechanical abnormal sound, overheating,
and vibration
Diagnostics
① Check for any encoder data failure.
② Use reference pins and blocks to check the positional data is correct at
pin position.
③ Check for any irregular variations in the encoder data when moving each
robot axis.
④ Replace the servo amp board, BD440 to check errors.
Resolution
① If cabling turns out to be in good condition withouth any damage, replace
the encoder.
② If there is no error after replacing the servo amp board BD440, replace the
servo amp board.