Robotics Electrical Service & TroubleshootingET 164
Prerequisites: Prerequisites: ET 120 and MT 220; Identifies the electrical components of robots, theory of operation.
Introduces proper troubleshooting procedures for the robot controller and manipulator. Approximately 50 percent of the course is hands-on troubleshooting of actual robot system and controller. Credit may be earned in ET 164 or SKET 164 but not both. (15-30)
Outcomes and Objectives
Demonstrate robot basics.
- Follow safety guidelines and demonstate use of emergency-stops and servo lockouts.
- Properly power up robot controller and demonstrate fault recovery procedures.
- Place robot in the following operating modes: automatic, low speed, and 100 percent manual modes.
Identify system components
- Identify manupulator motors, resolvers, calibration marks, counterbalance devices, hard stops, brake release buttons, and end-of-arm tooling.
- Identify robot controller and computer and I/O modules, servo amps, motor relays, power supply.
- Demonstrate proper teach pendant: enabling device, motion device, e-stop and teach pendant buttons.
- Demonstrate proper panel emergency stop button, motors on/off indicators, key switch, fault reset button, and floppy drive.
- Use the calibration program to verify robot synchronization.
Understand Robotics circuits diagrams
- Understand theory of operation of the robot controller.
- Describe components in the robot controller.
- Explain principles of logical troubleshooting from power up through emergency stop loop and servo system.
- Describe input/output interfacing between the S4C+ robot controller and peripheral equipment.
- Operate the controller control panel and programming unit.
- Read and interpret robot circuit diagrams on the robot controller.
Perform troubleshooting techniques successfully
- Use safety precautions used while troubleshooting the robot controller electrical system.
- Set up commutation, resolver, counters, limit and sync switches.
- Analyze and interpret system fault codes.
- Diagnose and repair basic electrical faults.
- Analyze servo-system data and make basic adjustments.
- Diagnose and rectify emergency stop conditions.
- Make I/O connections to peripheral equipment and safety devices.
- Repair and replace systems components.
- Review "Cold-Boot" procedure.