IAI America ERC2 - Manual (Page 115)

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7. T
roubleshooting
96
z The actuator overshoots when decelerated to a stop.
Cause: The load inertia is high in view of the balance of loading mass and deceleration.
Action: Decrease the deceleration setting.
z The home and target positions sometimes shift on the rod-type actuator.
Cause: The current-limiting value is lower than what is required in view of the loading mass and slide
resistance.
Action: The actuator may have to be replaced in some cases. Please contact IAI.
z The speed is slow during push & hold operation.
Cause: The set current-limiting value is insufficient for the loading mass or slide resistance.
Action: Increase the current-limiting value for push & hold operation.
z The actuator moves only a half, or as much as twice, the specified travel.
Cause: Pre-shipment setting error at IAI is suspected.
Action: Contact IAI.
z The actuator operates abnormally when the servo is turned on following the power on.
Cause: The excited phase is not detected correctly when the servo is turned on because of one of the
following conditions at the time of power on:
[1] The slider or rod is contacting the mechanical end.
[2] An excessive external force is exerted to the load.
Action: [1] Check if the slider or rod is contacting the mechanical end. If it is, move the slider/rod away from
the mechanical end. If the actuator is equipped with a brake, move the slider/rod after releasing
the brake by turning on the brake release switch. At this time, pay attention to prevent the load
from falling due to its dead weight and protect your hand, robot, and the work part from
injuries/damages.
If the actuator cannot be moved by hand, you can check the direction of excited-phase signal
detection and change the direction, if necessary. If you wish to attempt this course of action,
please contact IAI.
For details, refer to 6.2.2, “Parameters Relating to the Actuator Operating Characteristics.”
[2] Check if the load is in contact with an object in the surroundings. If so, move the load away from
the obstruction to provide a minimum clearance of 1 mm.
If neither of causes [1] and [2] is present, please contact IAI.
z The LED (green) blinks.
The automatic servo-off mode is currently active (this mode is not available on this controller). (This is not an
error or failure.)