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Robotics Electrical Service & Troubleshooting

ET 164

Robotics Electrical Service & Troubleshooting

ET 164

Course Description

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.

Objectives:

  • 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

Objectives:

  • 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

Objectives:

  • 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

Objectives:

  • 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.