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Symptom
3
Position deviation
occurred.
• There are 2
main types of
position
deviation.
1.Electrical
position
deviation
2.Mechanical
position
deviation
In case 1, if
position
deviation
occurs, you can
perform return-
to-origin and
return to
original
position. In
case 2, you
cannot return
to original
position.
Possible cause
• Position sensor
device is defective.
• Cable is defective.
• Position detection
error due to noise.
• Mechanical error
occurred.
• Controller is
defective.
Check items
• Move axis in
emergency stop
and check the pulse
count.
• Check grounding of
robot and controller.
• Check robot
periphery for noise.
• Check for noise
sources around
robot I/O cable.
• Check the belt
tension
• Check for warping
or damage on
guides or ball
screws.
• Replace with
another controller
and check
operation.
2. Troubleshooting
Corrective action
• Replace motor if
count is incorrect.
• Replace cable if
found to be
defective.
• Ground the robot
and controller.
• Isolate from noise
sources around
robot.
• Isolate from noise
sources around
robot I/O cable.
• Adjust to correct
tension if
necessary.
• Remove foreign
matter if found.
• Replace guides or
ball screws if
warping or damage
is found.
• If operation is
normal use the
substitute
controller.
9-59
Chapter
9
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