EFORT Intelligent Equipment Co., Ltd
42
abnormality of the joint
components, such as casting
damage, worn O-ring, oil
seal damage, etc;
（
2
）
If the robot has been
disassembled and
reassembled, the O-ring
assembly may be abnormal;
（
3
）
If the joints without
proper protection operate in
harsh environment, the dust
can enter and damage the oil
seal;
（
4
）
Loosening oil port
plugs can cause oil leakage.
in time.
（
2
）
Ensure the O-ring is properly
assembled;
（
3
）
In case of harsh working
environment, take necessary
preventive measures to protect the
body;
（
4
）
Check the screw plug at the port
and make sure it is tightened.
deviatio
n from
the
comma
nd
position
The positioning
repeatability is over
the allowable value.
（
1
）
Loosening screws and
abnormal connection of the
body affect positioning
accuracy;
（
2
）
Collision and long-term
overload cause deviation of
joint position and even
damage of components.
（
1
）
Tighten the screws and check
the joint connection;
（
2
）
Adjust and recover the deviated
joint positions. Replace the damaged
components in time.
Position deviation
occurs when
connected to
peripheral devices
（
1
）
The unsteady
connection to peripheral
devices can easily cause
position deviation;
（
2
）
Peripheral equipment is
subjected to environmental
interference during operation,
resulting in positioning
deviation.
Check the working environment and
connections of the peripheral devices.
Ensure the connection is firm and the
movement is not interfered.
Position deviation
occurs after
modifying
parameters
The modification of
parameters causes the loss of
zero position.
Restore the previous parameters or
re-calibrate the zero position.
teach
pendant
alarm
encoder in
abnormality
The abnormality of the motor
encoder wiring include
disconnection, not applying
shielded twisted pair,
coupling with the motor
power line, etc.
Check whether the wiring of the
motor encoder is worn or
disconnected. If damage is detected,
identify the cause and replace them in
time.
