1)AC has no power or power cord damage

2)The power cable is loose

3)AC power input to the relay board is loose

4)Components on the Relay Board burned out

5)Stick or IPC damage

6)power supply 24V is damage

1)The robot’s cable is loose

2)Robot voltage is too low

3)The cable between  relay board and the Power supply 48V is loose.

4)Related wire of Power control board is loose.

5)Joints power cable and E-bus wire are loose.

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1)Power supply 48V abnormal of output voltage

2)Joint 1 module abnormal

3)Joint 2 module abnormal

4)Joint 3 module abnormal

5)Joint 4 module abnormal

6)Joint 5 module abnormal

7)Joint 6 module abnormal

8)IO module abnormal

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1)System delay

2)Camera Error

3)USB Port is abnormal in IPC

4)Power board is abnormal

5)camera cable is abnormal

6)USB extender device board is abnormal

7)Robot Cable is abnormal

8)Connecting is loosing

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1)DO’s external device, whose current value is higher than 100mA, causing the IO circuit to burn out

2)The leakage current between the circuits of the IPC IO connected to the external device

The maximum drive current per channel is 300mA for TM5A/TMAA and 100mA for TM5.  If the load exceeds maximum drive current, a relay should be used to drive it.

1)The peripheral environment problem.

2)The joint had loosed or failed.

3)The robot had collision.

After trouble shooting, if the collision was caused by project running, please check the project flow as below:

a)IO timing

b)Flow logic

c)Communication timing

d)point blending setting

2.When the project is executed, it will automatically enter the Emergency mode.

3.Buttons have no response

4.Robot can not  start up

1)The button on the Stick is concave or damaged

2)Stick wire Damaged

3)The Stick wire on the Power board is loose

4)Is the Stick wire on the IPC loose

5)Workspace has static electricity effects

1)The connection wire for the robot & external devices is loose.

2)Incorrect Network IP address for external devices.

3)HMI’s IP address is different with External devices.

4)NIC driver abnormal

5)IPC or NIC abnormal

1)The Connection wire of SSD is loose

2)Hard disk scan settings

3)SSD Damaged

1)Camera USB wiring effects

2)Camera image parameters

3)Pixel clock to high

In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of cylindrical

radius , is distance between center of J1 and J6. Once robot arm close the inner singularity, robot arm

will stop and sent out a warning.

2.Extended singularity

In the outer singularity, the wrist root point is located at the limit of its work envelope. Namely, J3 is almost in zero degree. Robot arm stop and send out a warning when end-effector beyond working space.

Processing steps:

While robot arm send out a warning because of inner singularity, user can press the FREE bottom to

get rid of warning. Please reconsider the position of the points or change the trajectory between the points.

Please avoid the robot trajectory between the points cross the inner singularity

3.Wrist axis singularity

In the wrist singularity position, the J4 and J6 line up each other. In this case, these joints will try and spin 180 degrees instantaneously. There is an infinite number of possible for J4 and J6 with identical axis angle. Once situation mentioned occur, robot arm will stop and send out a warning

Processing steps:

While robot arm send out a warning because of wrist axis singularity, user can press the FREE button to

get rid of warning. Try to move the robot along z-axis in tool base when J4 and J6 with identical axis angle

will cause wrist axis singularity. The picture below shows an example to prevent wrist axis singularity.

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1)CPU fan is jammed caused by the wire

2)Fan power cord is loose

3)CPU fan doesn’t running very well

4)Power supply has not been powered to IPC

5)Software bug

2.HMI update failure, system displays OPEN RTSS FAIL, Error Code: 4F000

1)Using the single-loop Power board Stick, the system detects errors after updating the HMI version.

2)Version are quite different, causing FW and ESI to update Timeout

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1)After saving the project shut down right away and cause some parts of the project damage which have not saved yet.

2)Unusual shutdown

3)During exporting the project , removed the USB device when exporting and cause damage to the export project file.

1)The keyboard is incompatible with the mouse

2)USB related device is abnormal

3)Stick switch button is abnormal

2)External equipment was failed.

3)Connection for external equipment was failed.

2)Robot is not straight on zero pose.

3)The error value of kinematic calibration is too large.