IAI America PCON-PO - Manual (Page 98)

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6. T
roubleshooting
z The Actuator Malfunctions when the Servo Is Turned On after Turning On the Power.
Cause: Excited phase detection is not performed properly when the servo is turned on, because one of the
following conditions exists when the power was turned on:
[1] The slider or rod was contacting a mechanical end.
[2] The work was pushed by a strong external force.
Action: [1] Check if the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a
mechanical end, separate the slider/rod from the mechanical end.
If it is equipped with a brake, turn the power ON to force release the brake before moving.
At this time, be careful not to pinch your hand or damage the robot hand or work by the slider/rod, as
the slider/rod may drop unexpectedly by its dead weight.
If the actuator cannot be moved by hand, one measure is to check the direction of excited phase
signal detection and change the direction of detection as necessary. If you wish to change the
direction, contact IAI beforehand.
For details, refer to the applicable parameter explained in 6.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
[2] Check if the work is not contacting any peripheral equipment.
If the work is contacting peripheral equipment, separate the work from the equipment by providing a
minimum clearance of 1 mm in between.
If neither [1] nor [2] applies, contact IAI.