1. Mechatronics Servo System Trouble Shooting

2. Mechatronics General Problem Management Problem Can I handle it, now? Can I identify the bad device? Call the technician Change the device Fix the problem Can I restart from the same state where I stopped? Eventually wash the machine, and restart from step 0 Restart immediately NO YES

3. Mechatronics Motor Not powering on Not running Run reverse Moving not continuously Motor temperature alarm as soon as motor is on With Jaw System connected the servos cannot keep the position when OFF Check DC bus low (out 7 SAM-P connector) Check the brakes, the brakes wires and relay Check U, V, W correspondence on motor side Check the winding connector Check the resolver connector Do NOT just revert the phases order Check the overtemperature wires Check the brakes: - Switch OFF the servos (step down) - Try, by hand, to move the links and, if successful, free the motor shaft and try to move it with a dynamometer key: it is a 50 Nm brake

4. Mechatronics Resolver Motor running not correctly (see motor slide) Resolver error (Main sensor measure defect) The Home Position of the Jaw System seems wrong Going to Home Position it is always colliding (lag error) Check winding and resolver connector/connections Check resolver connector and the shielding Check impedance between: cos1 - cos2 and sin1 - sin2 and ugen1 - ugen2 they all should be: R<50-100ohm (C<3-4uF L<10mH) The Referencing Routine has to be performed (the axes for some reasons have lost their position relative to the mechanical stops)