Staubli CS8C Instruction Manual page 202

8.7.3.3. CASE 3
Problem:
?
Not able to move the arm due to the error message "... under voltage ..." or "... envelop error
...". The DC bus voltage applied to the amplifiers is too low or power requested from
amplifier is too high.
Solution: Step 1
•
•
•
Solution: Step 2
•
Solution: Step 3
•
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Check that main voltage is correct according to identification plate of the controller. In
case of 3-phase, it is important to verify voltages on the 3 phases.
Check fuses F1, F3.
Check D2 circuit breaker.
If error occurs only when arm is accelerating very high:
•
Check that payload conforms to the arm specifications.
•
Reduce speed and/or acceleration parameters in the application program.
Check in manual brake release mode that there are no damages to the mechanics.
DANGER:
Refer to safety chapter (3).
Pay attention to risks related to the size of the robot, the size of the payload,
and so on when using Brake Release mode.
© Stäubli 2009 – D28070504A CS8C