as MITSUBISHI INDUSTRIAL MICRO-ROBOT SYSTEM ModelPP AENm 10. n 12, 13. 14, 16, 16. 7. 18. 19. 20. 21. 22. 23, 24, 26, 26, 27, 32. 33, 34, 35. 36, ) INFORMATION 7 Card Layout Diagram and Card Schematics Card Functions ~~ 29~33 |. INFORMATION 2 Checking the Power Transistor F 2801297 (2801296) CONTENTS POWER CANNOT BE SWITCHED ON. mt ERROR MODE I OCCURS AT POWER ON.---~ 2 ERROR MODE i OCCURS AT POWER ON. 3 ROBOT OPERATES UNPREDICTABLY AS SOON AS. mae S swircteD ON. 4 ANY TEACHING BOX KEY INVALID. 5 ROBOT OPERATES UNPREDICTABLY WHEN JOG OPERATION IS PERFORMED FROM TEACHING BOX. 8 JOG OPERATION DISABLED IN ORIGIN SETTING DIRECTION. 7 JOG OPERATION INVALID FROM TEACHING BOX. : coe ROBOT VIBRATES WHEN JOG OPERATION IS PERFORMED FROM TEACHING BOX. 9 LOOSENESS PRODUCED WHEN ROBCT IS STOPPED WHILE POWER IS ON, sss: 19 ROBOT VIBRATES WHEN STOPPED WHILE POWER IS ON, = --2+0:s0----« 7 an ERROR MODE! OCCURS DURING ORIGIN SETTING, «1: esses - see 12 ORIGIN SETTING CANNOT BE COMPLETED. -- 7 sreeeeereerenneeteeseannnneceens 13 ERROR MODE ! OCCURS DURING AUTOMATIC OPERATION, «sss: ssesnttseiesseseecsees 4a) ERROR MODE i) OCCURS AFTER AUTOMATIC OPERATION IS STAL ATED. ere 15 POSITION SHIFTED BY ORIGIN SETTING. srr ss---er 0 7 so 16 POSITION SHIFTED DURING AUTOMATIC OPERATION. pene 17 DC HAND UNABLE TO OPEN/CLOSE. oo se sree 18 AC HAND UNABLE TO OPEN/CLOSE, «-----esssssssteseeee . > serene 1G EXTERNAL INPUT DISABLED. cre sceeenne seeteencnrenes BD EXTERNAL OUTPUT DISABLED. 2 ROM DATA TRANSFER DISABLED.- - - - arses 22 DATA WRITE TO ROM DISABLED, -::s+-:ssrsresstissteseeeseneeerrnsneeetenanetnne 23 NO COMMUNICATION VIA CENTRONICS INTERFACE. 24 NO COMMUNICATION VIA RS-232C INTERFACE. - 25 COMMUNICATION DISABLED VIA, PERSONAL L COMPUTER INT RFACE. Hotere 26 POSITION SETTING DISABLED. - seein ar 3. DATA NOT BATTERY BACKED, - 28 on the Heat Sink vi ~34~35 . INFORMATION 9 Checking the Motor Drive Direction Switching Transistors 2SB791 and 250970 sent 3637 INFORMATION 4 Checking the Cable in the Robot for Continuity ----+sse-e nee 3836 INFORMATION 5 Adjusting the Servo Gain Voltage serene dQ) INFORMATION 6 — Checking the ROM Write Voltage -~ a INFORMATION 7 Checking the Limit Pulses ve AR INFORMATION 8 — Removing the Junction Card B~a4