oO oma FSH ALLA (bis) AIRE) [Rampal NBM TRIUMPH ROBOTICS (SHANGHAY CO.,LTD. BLES A HES Bi(KUKA) BLAH AH See Robot Stacking System (KUKA) be Analysis and handling of common problems PS: HRM OLMRNLES AC CLI) AIRS] BLL 2022 4 10 AoO Teaanyple RMSE EA (Lif) AIR) NBM TRIUMPH ROBOTICS (SHANGHA CO.,LTD. BOAR MBL A} Yom ault . pias Cause analysis Countermeasures HPS SE RECESS | ene ue eine, NEAR ET EE teach pemlant careraeney typ | Sift Release the pressed button and follow the htions ere prose | BeAMA procedure to reset the program ‘i PAMIAG LRBS SBA EO. Te & f. a aE dase TEA Ae #347 8 Check whether the glass parameters on eae Screen parameters are | 11.2 touch screen are set correctly and whether the = order is valid eG BABI AS TR ASSL, EES The turntable is in place indicator | Please check that the turntable is in place and light is not on that the pins are extended TRV RAGE Aa BR, Pe AE re LPR AE BR4 A Sy’KEst Make sure the indicator is in Do not gri Incorrect working mode selection | ‘Auto’ mode and the control cabinet is in a ly pa ‘Single-step' or ‘Auto’ mode ihe: Yatllng WORE AR” Tr A RRL E pe ne Lee position | AP BEsRnt, a RKaaaR e | SEAS IER, Se BLE a A In remote mode, the remote | ‘#2051 You can switch to "Local" for judgment eel. id t a b and confirmation; Check whether the eo rol Goes not send 2 BFAD | communication between the manipulator and the ne wire control system is normal, and whether the parameter settings are abnormally changed PHA TAO, RSS ek Panis HRA, WRAL I LE I A RIA R ARNT BFE Check the photoelectric switch The roller table photoelectric | under the roller table, clean the dust with failure compressed air or manually, and observe whether the photoelectric switch indicator will be on when the glass passes over the photoelectric top CRRA SRE, RA RRR | BUR, PL A ee Lae A AE SI BL i aia Sasi meee the ready to| The speed of the roller table is too AER SE BLA HERI BU] mt fast, which is higher. than the | Zu dW the speed of the roller table, increase rudd bull | conclicircapeedlicheiie: abot cltetie |e NO OCR did not track | glass has already flowed before the the grab robot is readyoO at Teaanple RMSE EA (Lif) AIR) NBM TRIUMPH ROBOTICS (SHANGHA CO.,LTD. sea The glass gripping position is incorrect ALE BAS BOL BASE The touch screen glass parameter settings are incorrect PAI SBS KM SE FF BL Check whether the glass parameters are consistent with the actual gripping glass SBSPUTE RE EE tia ‘The glass is misaligned on the roller table 20 LE BRN AMT A Correction of glass deviation or adjustment of the gripping position before and after SMR NAIR, BEAR PHRASE PSE PSX EL AEM If the gripping mode is local gripping, the roller table speed or the glass X position in the glass data is set incorrectly (BEE EAA X Modify the roller table speed and glass X position FAME, ALE HE iE. BOR X ALAS If the gripping mode is remote, the speed of the roller table and the position of the glass X sent remotely are incorrect BAERGA ASE ‘Check the in-line control system and vision system MER RR aim The was scratched, shattered, or not caught glass BESRAN Ahk” BBCP ip BE A BI HGH; The glass grip is severe, and some of the suction cups do not suck the glass By “Reman” bees Refer to the handling of The glass gripping position is incorrect ak SE. RET LA ahle B BRM Ait BS A BR AM PE PB EET TAA The suction cup is damaged, the suction cup lifting mechanism is faulty, the suction cup grasping position is too high or the gripper is deformed, resulting in the suction cup plane is not level TE, EET iL. ARTE, ROP Replace the suction cup, check the cylinder of the lifting mechanism, the lifting spring, and check the flatness of the suction cup HEAR RAS SE Insufficient vacuum suction or clogged vacuum lines HE BED LE, CS LB Bes Aa HE WW, REI Se, ES 3% Move the gripper to the maintenance position, check the vacuum circuit for leaks, the suction cup position for clogged filters, and clean the vacuum filter RE FY AU “UR BR LEB Suction cup lifting mechanism, gas path or mechanical failure BERAHAOHA. RASARLES FE. REPEAT FESEHE Check whether the lifting cylinder is leaking, whether the lifting guide sleeve is deformed, and check the elasticity of the lifting spring WBE Sp ALT The suction cups are grouped incorrectly EAR LOAM EE A Ea Check that the glass specification settings on the touchscreen are correctoO Teaanple PRM SLAMS A (bis) AIRE NBM TRIUMPH ROBOTICS (SHANGHA CO.,LTD. MUA Bt es ‘The gripping position is too high SIEGAL RE dF SME, {SETAC OR Sa a ‘%% The gripping adjustment is adjusted downwards so that the suction cup glass is in closer contact when gripping 0 MD = KM BS eh Common MD secondary measurement system failures MD Aa), Faas ie MD does not operate automatically or manually POUL TR Rhea, RSE A SRA, HVREIRL AE FAIR Check whether the electrical wiring of the cylinder is loose, whether the compressed air is leaking or blocked, and whether the solenoid valve is damaged BED RIG, HAD ‘The movement is inflexible and the expansion and contraction is slow HPL Ae TEP, AE MD HATE. Bit: PREMERA IER: iL MD EAE, Pe MD fh ESOL SK AAA MD Ja, APSR IPS GAT MD “(tel EER, ie ae MID fei Check whether the MD is deformed and stuck; Check whether the compressed air pressure is normal; Clean the dust of the MD device, manually extend the MD and point the oil on the guide rail, and then repeatedly expand and contract the MD for many times, and then wipe the oil clean; Adjust the upper rotary valve of the MD cylinder to appropriately increase the expansion and contraction speed of the MD Ae ORF /HEEL MD AUT IEL HE ®), OF /BEL MD UE fi BEF AR BEG AS KO MDxxx'St#*HE FL MDxxx’4it Alarm — (horizontal/vertical MD cylinder retraction —_error), (horizontal/vertical MD measurement timeout); The touch screen alarm message has a ‘horizontal MDxxx' or ‘vertical MDxxx‘' alarm He HAULE GE MD 36 Has E JAW LATE MD “Ui at Real: Ke MD ti MUL ASHE: (et MD SEH AE EH! fa SAL ABE: HOA MD HEATER aT (Wf; #&2AE MID Hf [LER 8 A TT 3 ie AE FS EH EBA, RA AM Check whether the glass edge is in the MD photoelectric irradiation range; Check whether the glass edge is within the range of the MD cylinder; Check whether the MD scaling speed is slow; Check whether the MD photoelectric can be sensed normally and whether the signal is stable; Check whether the MD photoelectric flexible cable is broken; Check whether the position of the MD retract induction reed switch is changed, damaged, and the cable is broken EE AEE, SARS SBA ‘The secondary measurement data is inaccurate, resulting in untidy placement or collision of the plate MD ERATE FE ATT: He AE MD Ft Ree ARRAAE, LE STAs JE Si4(% MD a TE REL ED — MD #01, Hib MD RSIS SA BEET J& #34452 Whether the MD photoelectric flexible cable is broken; Check whether the MD photoelectric sensing distance is appropriate, andoO Teaanple RMSE EA (Lif) AIR) NBM TRIUMPH ROBOTICS (SHANGHA CO.,LTD. whether there is dust or foreign object interference; Appropriately reduce the extension speed of the MD cylinder; In the touch screen maintenance-MD window, observe whether the jump value of the real-time data of the MD ruler is stable BB Be BEF wie After grabbing the glass, it will fe ARIE RAN The touch screen reports that the vacuum pressure is insufficient PALA ee Ba. A ADEA, + ae Check whether there are suction cups that do not suck the glass or all the glass, whether the suction cups are broken, and whether the grippers are on the same plane; Whether the vacuum line is leaking and whether the vacuum filter element is blocked; Whether the vacuum pump is regularly maintained, and whether the vacuum automatically pump is running abnormally return to the | MD iU-5U3 3 Nabi SAY — “CL MD RHE ABER” ‘The MD measuring device is | Refer to Question 4 - "Common MD Secondary abandoned | malfunctioning Measurement System Failures position BBM ie, BMD 56 (eH ea D5 | CEASE ERE ESTP A’ PIiH The glass is misaligned, so | JAi 7% MD i —#6 Adjust the gripping position that the MD is still undetectable | on the touch screen so that the gripper grips the even after itis fully extended glass closer to the MD. Ba) eA BRERA g = iC At al In ee Wide? automatic | MD aiff Fe thode, the | MD moves slowly Refer to "Common MD Secondary Measurement ‘System Failures’ glass waits too long in front of the turntable TUE: A “Hb” BR, Jer BRL BT HM 5, AOULER HEE, FURIE BL Af). X Fl BK BAK YULPHAER ST, REBN S St. THAR. Mb HBA “HSL MD TWEE A See” FEF) Mp RSE Confirmation method: Use the "single-step" Large aoe a mode, run to the first step before the blowing deviation of glass placement MD measurement error is largee plate, pause the machine, measure the relative dimensions of the glass A angle, X direction and Y direction with a ruler, measure 5 pieces in a row, and calculate the error. For troubleshooting, please_refer_to_"Common_MD_ SecondaryoO Teaanple PRM SLAMS A (bis) AIRE NBM TRIUMPH ROBOTICS (SHANGHA CO.,LTD. (uneven placement of plates) Measurement System Faults” EEE, OKA ALA—B SFROWIAA 2 AS AAR Some of the suction cups are blocked, and the timing of blowing is inconsistent, resulting in the two sides not falling at the same time PITAARENEM, TEM MEM Inspect and clean the suction cup filter, which should be maintained regularly TEREIEARK The height of the drop plate is too large ‘LAB HBA A A” ERB GE HEAEIR IS CARIES FEA 10mm 2245 In the touch screen "Correction of the Board", the height of the glass is lowered, and the difference between the bottom surface and the base of the bracket is recommended to be about 10mm SEALE IRA)» RMB APH Te RBA AK Because of the glass shelf, the base is uneven ot the bouncing force is too large when the glass falls A BSR Modified glass brackets BAB Ja, The robot takes board out after it is placed TBE TR TR UA FESY » WES BE HAUSE LEE After the suction cup is placed on the plate, the blowing is not sufficient, and there is still a vacuum between the suction cup and the glass FLA DIE LE, RK, RAH TOK BL, AFORE BS BEBE] Move the robot to the maintenance Position, force the air to blow, check the volume of the suction cups in the joint, remove the suction cups with a small blowing volume, and clean the filter HARTA turntable does move aL ET AML. SST YC lat ed RRR AARNE TICE The cylinder pin is not retracted, the pin is taking too long to retract, or the reed switch does not detect pin retraction PEAT RET Re IER, UL SERA RMIE, CAT, HDS ®EFE Check whether the pin reed switch indication is normal, whether the cylinder solenoid valve action is normal in time, whether there is any leakage in the trachea, and whether the pin is stuck SCH BUR HERR EAA The bolts of the base of the reducer are loose HATE BUIREA ESA), GR DUNE AEDT AE te —WK Check whether the reducer base is loose, and the reducer base should be checked ‘once a month HUB Electrical faults BEGARAAERA, BMRA GRH, FRSA AAA, WPA TTT Hi), HLS AA AIG BFA Check whether the electrical wiring is loose, whether the inverter is wrong, whether the inverter parameters have been changed, whether the motor brake is Toosened (energized), and whether the three-phase power supply of the motor is abnormaloO Teaanple RMSE EA (Lif) AIR) CNBM TRIUMPH ROBOTICS (SHANGHA\ CO.,LTD. ARAL AMA. IC. SRR The mechanical fit is too tight, stuck, or deformed HE GME HEA, vsMT TIA Push the turntable to observe whether it can be pushed and whether the gear meshing marks are uniform A De Bia BIE ‘The turntable is in place, but the light is not on PLC HENLE HL, BOR READ HME The PLC control cabinet has just been powered, and the turntable is required to be tured back into place BE LAN A 46 @ Js a He Ba od 441 Click the left turret to start or the right turret to start button on the operating cabinet Pe RSL A BH He RB The position of the turntable proximity switch is abnormal or faulty BABA AIE, HPL IT, FOTN RA, DNA ACTEM EAS AE WEA PLC HINER Check the position of the proximity switch, approach the proximity switch with a metal object, check whether the switch indicator is on, and check whether the corresponding signal enters the corresponding contact of the PLC according to the electrical drawings if necessary ee Ca HET ACA ee a a a ST BE AR HS ST A ‘The turntable pin is not protruding or has been extended for too long or the reed switch has not detected the pin protruding BAHT RET KE Uli REAL ARE, VEAL, TRAE, xe {it fit Xe 7 A thi 2 «Check whether the indication of the pin reed switch is normal, whether the cylinder solenoid valve is normal, whether there is any leakage in the trachea, whether the pin is stuck, and whether there is any deviation in the positioning position FRM RA 5K RAM FLERS RELER 48) When the board is discarded, it collides with BAAN Ahi TBA TK BC DY 4 $f F iE The glass is scratched or the glass is too rough and the four comers of the glass are sagging TARE, AN YF EAM Ee £9244 Adjust the gripping position so that it is not allowed to grip glass that exceeds the rated size of the gripper TF RRR Hea FI HT FH SHA AT The gripper fastening screw is loose or the gripper is deformed, and the position of the gripper discarded plate is not parallel to the roller table BAMFREGRARRE, WMP °F HIE Check whether the gripper is loose or deformed, and adjust the flatness of the gripper suction cup i | po pep tsp os RAAT ESI AB, SL CRIS Ee and | 5:46 4 8) HBR ROR G RAAF] 5 aH BM. eae RE e glass on : Please contact the company's after-sales service The discarded plate position is set 3 : the roller] """ “ department, and the professional engineer will too high or too low table adjust FBO AE | ee Rest . ‘A collision | Emergency measures: occurs while] 1, WHBREKM, MRARRE:oO oma Teaanple RMSE EA (Lif) AIR) NBM TRIUMPH ROBOTICS (SHANGHA CO.,LTD. the board is being placed | 5 ( Retreat to a safe area to ensure the safety of personnel;) SL AS ALAS BLA EAT i, (The robot program is reset by means of a teach pendant) 3. UE. HO. ASR, WHT, HM SRARA. ( Confirm whether the gripper, turntable, robot, etc. are damaged, if there is any > damage, please contact our company immediately) 4. WBA ATA TORT, TCE AER ETT ES Bos a dL PRR RU ASR A ASE, BRERA) LAT SSE Cif the glass is not damaged and is on the shelf, please add 1 to the current number of pieces of glass on the touchscreen order In the event of a serious collision, it is recommended to be operated by maintenance personnel with professional skills, or under the guidance of our engineers.) BOR. TORSCRIUE. BORK | . es . oa a etwe A TPP RT La, SORA MB He AaB ETE IE” BEL ix 285 WB An BE” “fic BY TE (A 8 EHH, “AHR “CUCL B TE” AYE i BART Fee BE MRR CBRE oy agra — «ap 2 MD VNR REAR” BiH: et ANB AS PLA BERR Pe Prbi HET FE SERS, REM OURBLES A (bith) ADR Za) PLATE Sibi: Lah ab fe 20D as UH 66