DeLaval VMS 2008 Instruction Book page 177

M M m m Alarm text Alarm text
2 2 133 Axis 133 Axis Stop alarm Stop alarm
Endpoint Endpoint
Calibration Calibration
failed, axes failed, axes
(X:... Y:... (X:... Y:...
Z: ... ) Z: ... )
2 2 136 Internal axis 136 Internal axis Stop alarm Stop alarm
controller controller
error error
2 2 137 Teat cleaner 137 Teat cleaner Stop alarm Stop alarm
not detected not detected
in gripper in gripper
2 2 138 Disinfection 138 Disinfection User User
device not device not notification notification
detected in detected in
gripper gripper
2007-12-18
DeLaval voluntary milking system VMS
Type Type Meaning Meaning
The robot falied to move properly The robot falied to move properly
during the first part of the Axis end during the first part of the Axis end
point calibration. This error might point calibration. This error might
occur if the hydraulic pressure is occur if the hydraulic pressure is
insufficient and there is no error insufficient and there is no error
indication on the hydraulic power indication on the hydraulic power
box. box.
Internal error. Should never occur. Internal error. Should never occur.
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.
This error can be caused by either This error can be caused by either
one of the following two events (1 one of the following two events (1
or 2): or 2):
1) While attempting to fetch the 1) While attempting to fetch the
teat preparation cup, the gripper teat preparation cup, the gripper
on the multi-purpose arm fails to on the multi-purpose arm fails to
detect the cup in its claws. The detect the cup in its claws. The
arm will attempt to fetch the cup arm will attempt to fetch the cup
twice, then park. twice, then park.
In automatic mode, the system will In automatic mode, the system will
perform a self-test while the cow perform a self-test while the cow
remains in the station: if the test is remains in the station: if the test is
successful, the system will successful, the system will
continue operating; if not, the stop continue operating; if not, the stop
alarm will be issued. alarm will be issued.
2) The multi-purpose arm detects 2) The multi-purpose arm detects
that it has dropped the teat that it has dropped the teat
preparation cup while attempting to preparation cup while attempting to
locate a teat. The alarm will in this locate a teat. The alarm will in this
case be issued as a Deviation. The case be issued as a Deviation. The
arm will make additional attempts arm will make additional attempts
before the system issues "Teat not before the system issues "Teat not
found for cleaning", major code 2, found for cleaning", major code 2,
minor code 57. The system will in minor code 57. The system will in
this case continue operating in this case continue operating in
automatic mode. automatic mode.
While attempting to fetch the While attempting to fetch the
disinfection tool, the gripper fails to disinfection tool, the gripper fails to
detect the tool in its claws, or the detect the tool in its claws, or the
gripper detects that it has dropped gripper detects that it has dropped
the tool before disinfection has the tool before disinfection has
taken place. The arm will attempt taken place. The arm will attempt
to fetch the tool twice. The arm will to fetch the tool twice. The arm will
park if unsuccessful. park if unsuccessful.
Troubleshooting
Action Action
- Check if something is obstructing the robot - Check if something is obstructing the robot
or if it is stuck. Then try to start the or if it is stuck. Then try to start the
calibration again. calibration again.
- If the problem persists, contact service - If the problem persists, contact service
engineer. engineer.
Service engineer only: Service engineer only:
-Check the hydraulic pressure. See also -Check the hydraulic pressure. See also
"Cannot reach position - Hydraulic" (major "Cannot reach position - Hydraulic" (major
code 2, minor code 139). code 2, minor code 139).
- If the self-test fails, contact service - If the self-test fails, contact service
engineer. engineer.
See major code 2, minor code 115 above. See major code 2, minor code 115 above.
Note: When verifying that the arm can fetch Note: When verifying that the arm can fetch
the teat preparation cup, use the button the teat preparation cup, use the button
"Test Pickup Cleaner" instead of "Test "Test Pickup Cleaner" instead of "Test
Pickup Cups". Also, use the button "Teach Pickup Cups". Also, use the button "Teach
Teatcleaner position" when redetermining Teatcleaner position" when redetermining
the cup's position. the cup's position.
For megnetic gripper: the contact surface For megnetic gripper: the contact surface
between gripper and teat cup might be dirty. between gripper and teat cup might be dirty.
Clean if necessary. Clean if necessary.
See major code 2, minor code 115 above. See major code 2, minor code 115 above.
Note: Redetermining the disinfection tool's Note: Redetermining the disinfection tool's
position is done by using "Test misc" no. 27 position is done by using "Test misc" no. 27
on the touch screen. (Window "Robot on the touch screen. (Window "Robot
Service".) Service".)
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