Robot Brake Failure (209)

Description/Symptoms of Issue:

This appears if the gripper sinks after the brake has been applied.

Cause:

Some causes of robot brake failiure are:

1. Loose belt - may cause gripper to lower too much when the motor is idle.

2. Malfunction in lift brake

3. Loose connection between lift brake and CPU Board; a broken/almost broken connector plate on brake magnet; the cable that is soldered to connector plate on brake magnet is broken/almost broken

4. Malfunction in encoder cable for Lift Motor

Solution:

1. Tighten AS-10741 twin belt HTD 670.

2. Take off front sheet. Set robot mode to offline. Try lift down and up the gripper - just a little bit to test the lift brake.

       a. check if it works smoothly, with no jams on hook

       b. test the brake also manually - lift down the gripper to have it on floor (not hang on steel bands). Turn off the robot.             Use your hand - press and release the plastic trigger on lift brake. Check if it works smoothly, with no jams.

       c. check also if hook has proper shape - tooth on hook must be sharp, not rounded

       d. check condition of rubber ring (placed on brake axle, inside the spring)

       e. replace AS-35024 brake assembly if needed

3. Check connection between lift brake and CPU board. Fix connections.

4. Inspect encoder cable - about connectors (if are seated correctly in sockets) and wires inside connectors.