DeLaval VMS 2008 Instruction Book page 171

M M m m Alarm text Alarm text
2 2 101 Axis end 101 Axis end Stop alarm Stop alarm
point point
calibration calibration
needed needed
2 2 102 Axis end 102 Axis end Stop alarm Stop alarm
point point
calibration calibration
failed failed
2 2 103 Robot failed 103 Robot failed Stop alarm Stop alarm
to start, axes to start, axes
(X:...Y:...Z:...) (X:...Y:...Z:...)
2 2 104 Cannot 104 Cannot Stop alarm Stop alarm
reach reach
position, position,
axes axes
(X:...Y:...Z:...) (X:...Y:...Z:...)
2 2 105 Robot 105 Robot Stop alarm Stop alarm
moved too moved too
fast, axes fast, axes
(X:...Y:...Z:...) (X:...Y:...Z:...)
2007-12-18
DeLaval voluntary milking system VMS
Type Type Meaning Meaning
You have ordered the robot to You have ordered the robot to
carry out an action without the carry out an action without the
position sensors being calibrated. position sensors being calibrated.
Note: This should never occur in Note: This should never occur in
automatic mode. automatic mode.
Axis End point calibration failed: it Axis End point calibration failed: it
did not finish within reasonable did not finish within reasonable
time. time.
Note: If the calibration fails for Note: If the calibration fails for
another reason than being too another reason than being too
slow, this will be issued by another slow, this will be issued by another
error message. error message.
Alarm major code 2, minor code Alarm major code 2, minor code
133 will normally occur before 133 will normally occur before
alarm 102 is issued. See below. alarm 102 is issued. See below.
The robot falied to start. This error The robot falied to start. This error
might occur if the hydraulic might occur if the hydraulic
pressure is insufficient and there is pressure is insufficient and there is
no error indication on the hydraulic no error indication on the hydraulic
power box. power box.
The robot will make up to three The robot will make up to three
attempts to resume operation if the attempts to resume operation if the
system was in automatic mode system was in automatic mode
when the error occurred. If the when the error occurred. If the
attempts fail, a self-test is attempts fail, a self-test is
performed while the cow is still in performed while the cow is still in
the station. If the self-test is the station. If the self-test is
successful, operation will continue. successful, operation will continue.
Too long time elapsed for the robot Too long time elapsed for the robot
to reach the specified position to reach the specified position
(more than 7 seconds). The (more than 7 seconds). The
message includes the axes (X, Y, message includes the axes (X, Y,
Z) and their status: "1" means that Z) and their status: "1" means that
there is a problem with this axis, there is a problem with this axis,
"0" means that this axis is OK. "0" means that this axis is OK.
This message might be due to This message might be due to
something obstructing the robot something obstructing the robot
(for example, a cow has put a leg (for example, a cow has put a leg
in a unexpected position) or a in a unexpected position) or a
problem with the axis control. problem with the axis control.
The system will, or will try to, park The system will, or will try to, park
the arm. the arm.
The robot will make up to three The robot will make up to three
attempts to resume operation if the attempts to resume operation if the
system was in automatic mode system was in automatic mode
when the error occurred. It the when the error occurred. It the
attempts fail, a self-test is attempts fail, a self-test is
performed while the cow is still in performed while the cow is still in
the station. If the self-test is the station. If the self-test is
successful, operation will continue. successful, operation will continue.
The safety function terminated the The safety function terminated the
operation of the robot because it operation of the robot because it
moved faster than is allowed. moved faster than is allowed.
The message includes the axes The message includes the axes
(X, Y, Z) and their status:"1" (X, Y, Z) and their status:"1"
means that there is a problem with means that there is a problem with
this axis, "0" means that this axis is this axis, "0" means that this axis is
OK. OK.
Troubleshooting
Action Action
- Run an "Axis End point Calibration" from - Run an "Axis End point Calibration" from
the touch screen. ("Robot Control" window) the touch screen. ("Robot Control" window)
- Try the action again. - Try the action again.
- Run an "Axis End point Calibration" from - Run an "Axis End point Calibration" from
the touch screen. (Robot Control window) the touch screen. (Robot Control window)
Note: It is very important that the robot is Note: It is very important that the robot is
not obstructed during the calibration. not obstructed during the calibration.
- If the error occurs again, press the "Save - If the error occurs again, press the "Save
Logfiles" button on the touch screen (Misc Logfiles" button on the touch screen (Misc
Serv & Maint window). Then notify service Serv & Maint window). Then notify service
engineer. engineer.
Service engineer only: Call the Help desk in Service engineer only: Call the Help desk in
Tumba. The error should never occur. Tumba. The error should never occur.
Developers should be notified if it happens Developers should be notified if it happens
(possible software error). (possible software error).
- If the self-test fails and the system is - If the self-test fails and the system is
stopped, check if something is obstructing stopped, check if something is obstructing
the robot or if it is stuck. - Then try to start the robot or if it is stuck. - Then try to start
again. again.
- If the problem persists, contact the service - If the problem persists, contact the service
engineer. engineer.
Service engineer only: Service engineer only:
-Check the hydraulic pressure. -Check the hydraulic pressure.
- Carry out a "Home Calibration". - Carry out a "Home Calibration".
- If this rarely ever occurs, try the desired - If this rarely ever occurs, try the desired
action once again. Check for obstacles action once again. Check for obstacles
preventing the robot from moving. preventing the robot from moving.
- If this occurs frequently, contact service - If this occurs frequently, contact service
engineer. engineer.
- If this rarely ever occurs, try the desired - If this rarely ever occurs, try the desired
action once again. Check for obstacles action once again. Check for obstacles
preventing the robot from moving. preventing the robot from moving.
- If this occurs frequently, contact service - If this occurs frequently, contact service
engineer. engineer.
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