User Guide

messages may be too long.
the virus scanner.
Does not move any more:
Message “Virtual Box
violated” and warning
sound.
When moving in „Cartesian
Mode” the robot cannot get
out of a virtual box. In “Joint
Mode“ this is possible,
changing back in CartMode
may lead to these warnings.
Change to JointMode and move the
robot back into the virtual Box, e.g.
into a standard position.
The robot does not connect,
the connect button does not
work.
Is the USB-CAN adapter
plugged in, are the driver
installed?
Is the mains adapter plugged
and switched on?
Is the EmergencyStop button
released?
Do the green status LEDs in
the joint modules blink?
You can find further information in
the Log-Messages window. The LED
of the USB interface provides
information:
• LED slow blinking: power on
• LED fast blinking: communication
on the bus, ok
• LED on for longer phases:
transmission losses, traffic too
high?
The robot does not react to
the joypad
Has it been activated? Is the
green ok mark on the joystick
button?
The Log-Messages window shows if
the joypad has been connected
correctly.
On the joypad: When the red light
beneath the mode button of the
joypad is on, you have to press the
mode button once again.
10.3 Hardware Mover6
Error
Possible Cause
Measures
Position error: the robot
does not proceed to the
same positions as before.
The robot can lose its joint
values due to unexpected power
loss or motions of the joints
when the robot is switched off.
Reset the joint zero values
according to section 5.6. Do not
disconnect the robot from energy
while in motion. Do not move the
joints manually.
The gripper does not open
any more
The gripper is controlled via the
digital outputs 11 (open/close)
and 12 (activated?). Is DOut 12 set
to true?
Set DOut 12 manually or via
program to true;
USB-Interface is not
recognized
Is the USB interface plugged into
a port where it has not been in
before?
With WindowsXP you have to
install the interface driver once for
every port it is plugged in. Use the
assistant that opens automatically.
No motion, no connection
possible
Burnt-out fuse in the robot base?
At the base of the robot there is a
small fuse cabinet for 5x20 mm
microfuses, 3.1 A. The reason for the
failure should be known and
removed before changing the fuse!