Brief analysis of the principles of use of robot positioning grippers

Locking no signal

Phenomenon:

1. E540 error (Volkswagen)

2. The robot cannot detect the locked position sensor (locked sensor)

3. The sensor light is off.

reason:

When locked: the position of the piston is different when the gun disc is unloaded or loaded.

Treatment method:

Adjust the position of the lock sensor.

step:

0. Use the hexagonal tool to remove the "Docked sensor".

1. Loosen the "Locked sensor" fixing screw with a hexagonal tool or a flat-blade screwdriver, and move it up and down in the slot to the appropriate position. Lock the fixing screw.

2. If the position cannot meet the requirement even after being moved to the limit, loosen the E2 stopper with a hexagonal tool and adjust the position downward.

3. Restore the product.

MultiDNet (communication module) fault.

Phenomenon:

The signal cannot be connected or is intermittent.

reason:

1. The customer bends the pins themselves. --Visual inspection

2. The pins are inserted in reverse when leaving the factory (assembly quality). --Visual inspection

3. Poor cable welding or crimping (assembly quality). --Measurement

Treatment method:

1. Customers handle it by themselves.

2. Take out the pin and reinsert it.

3. Re-soldering or crimping (after-sales processing).

Phenomenon:

The module shell is broken and the plating falls off

reason:

1. The torque is too large.

2. Interference or squeezing.

3. Water corrosion and chemical corrosion.

Treatment method:

1. The torque is controlled at 8Nm.

2. Adjust the motion trajectory or re-fix the interfering equipment.

3. Improve water quality and avoid water and oil chemical pollution.

Welding power supply failure.

Phenomenon:

Electrical contact ablation

reason:

1. The cable crimping terminals are connected in reverse.

2. The strap contact finger was brought out during the debugging process.

3. The electrical connector is damaged (the initial installation instruction was not done well).

Treatment method:

1. Reinstall the pressure wire.

2. Replace spare parts.

3. Use teaching tools for teaching.

Remark:

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MAKRO420 - Lowering the tool - When controlling A539, ​​the safety switch is required to always detect the safety stop.

-Send quick change signal to PLC-

A113 = ON

F283 = ON

A539 = EIN – Quick-change head disengaged (unlocked)

t10 ( EIN ) = -40[1/10Sek]

WAIT UNTIL !E538& E539 &(!E537 + F840) + T10

-E538 Quick-change head locked- E539 Quick-change head released-E537 There is equipment on the quick-change head-F840 (always there)

A114 = T10 - Send a message to the PLC indicating a missing component failure

A23 = !T10

WAIT UNTIL !E538& E539 &(!E537 + F840)

A23 = ON

A114 = OFF

A113 = OFF

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MAKRO422-Fault Reset

A113 =ON

A115 = OFF

A539 = AUS – Close quick-change head release (locked)

A540 = EIN -Quick Change System Reset-

WARTE (EIN) ZEIT 50[1/10Sek] lasts 5s

A540 = OFF

t10 ( EIN ) = -20[1/10Sek]

WARTE BIS E540 + T10 - Waiting feedback system ko-E540

A115 = T10

A23 = !T10

WAIT UNTIL E540

A23 = ON

A115 = OFF

A113 = OFF

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MAKRO421 – Grabbing Tool

A113 = ON

A115 = OFF

A539 = AUS – Close quick-change head disengagement

t10 ( EIN ) = -40[1/10Sek]

WARTE BIS E538 & !E539& E537+ T10 – There is a piece on the quick-change head of E537. Since E540 is not detected, leaving the safety stop position will also cause the program to proceed downward.

-E538 quick change head is in the locked position-!E539 quick change head is not in the released position

A114 = T10

A23 = !T10

WAIT UNTIL E538 & !E539& E537

A23 = EIN - for process stop

A114 = OFF

F283 = F62 - Not used, F283 is used to control the water on and off. When F283 is used, the water is turned off. F62 is used to control the quick change

The effect of turning off the water when the head grabs the gripper

A113 = OFF

Editor: Huang Fei