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4 Maintenance
4.5.4 Function test of contactors A1.Q1 and A1.Q2 inside the power unit
4.5.4 Function test of contactors A1.Q1 and A1.Q2 inside the power unit
Performing the motor function test
1
2
3
Performing the brake function test
1
2
3
174
Action
Start the robot system and change the op-
erating mode to manual.
Press the three-position enabling device
to the middle position and then hold the
enabling device in this position.
Release the three-position enabling device.
Action
Start the robot system and change the op-
erating mode to manual.
Press the three-position enabling device
to the middle position and then hold the
enabling device in this position.
While having eye contact with the manipu-
lator, move the joystick slightly in any dir-
ection to disengage the brakes.
Release the three-position enabling device
to engage the brakes.
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Note
This test is passed if the event message
10011 Motors ON state appears in the
event log.
If the event message 37001 Motor on activ-
ation error appears in the event log, then
the test has failed and the root cause of the
failure must be found.
This test is passed if the event message
10012 Safety guard stop state appears in
the event log.
If the event message 20227 Motor contact-
or conflict appears in the event log, then
the test has failed and the root cause of the
failure must be found.
Note
This test is passed if the brakes are disen-
gaged and the manipulator can be moved.
If the event message 50056 Joint collision
appears in the event log, then the test has
failed and the root cause of the failure must
be found.
This test is passed if the event message
10012 Safety guard stop state appears in
the event log.
If the event message 37101 Brake failure
appears in the event log, then the test has
failed and the root cause of the failure must
be found.
Product manual - OmniCore C90XT
3HAC073706-001 Revision: E
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