Mitsubishi CR800 Series Instruction Manual page 86

No. Issue
The position becomes offset during automatic drive.
The position becomes offset after moving the equipment.
Cause
6
Measures
The leakage current breaker trips when the controller's primary power switch is turned ON.
The leakage current breaker trips when the servo is switched on.
Cause
7
Measures
Oil is leaking from the robot's body
Cause
8
Measures
Breaker trips/overcurrent error occurs
(cutting oil gets inside the robot body)
Cause
9
Measures
Appendix-77
・ Program error (arithmetic processing, etc.).
・ Teaching operation error.
・ Peripheral equipment is offset.
・ There is a setting error in the origin position data.
・ The origin position data has been lost (battery life, etc.).
・ Origin positions are offset (the arm was moved while the power supply was OFF, etc.)
・ Connecting parts have come loose.
・ Belt teeth have been skipped.
・ Increased backlash from the reduction gear.
・ Check the positioning data in the area where the positioning has become offset.
・ Check the peripheral equipment and the robot's connecting parts (hand, robot installation section, etc.)
・ Check the remaining time on the robot battery's life.
・ Check the position of the origin positions.
・ Check the condition of the belt.
・ Check whether there is any nearby interference, etc.
If no improvement is made after carrying out the above measures, please contact the manufacturer.
・ Incorrect breaker selection (current capacity/drive purpose, etc.).
・ Leakage current due to electrically conductive foreign matters (oil/moisture) getting inside.
・ Earthing due to cable wear.
・ Check the specification of the breaker.
・ Check whether or not electrically conductive foreign matters have got inside the robot's body or inside the
controller.
・ Check whether or not the cable is damaged.
・ Deterioration in the reducer oil seal.
・ Too much grease was applied.
・ A grease other than the specified grease was applied.
・ Excess grease left on the unit when grease was applied.
・ Foreign materials have stuck to the oil seal (dust, etc.).
・ Check the amount of grease that should be applied and the name and product number of the grease.
・ Take measures to make sure that dust, etc. does not adhere to joints.
・ After applying grease wipe off any grease that is protruding.
・ Deterioration in the packing.
・ Scaling on the packing.
・ Using a highly permeable cutting oil.
・ An environment that exceeds the IP functionality.
・ In a mist environment, pull off and replace the packing every time the cover is removed.
・If a highly permeable cutting fluid is being used, or in an environment that exceeds the IP functionality, purge the air
and take measures on the jacket.
* Cutting oil that has got inside the arm must be thoroughly cleaned away or the components inside the arm are at
risk of rotting.