Changes between Version 1 and Version 2 of WAM/Troubleshooting

Timestamp:

Jul 6, 2012, 7:37:39 PM (12 years ago)

Author:

pb

Comment:

--

WAM/Troubleshooting

@@ -113 +113 @@
 
  == Problem: The pendants do not initialize when the WAM power supply is turned on ==
-
+  === Reason: The Pendant(s) are malfunctioning  ===
+'''Solution(s):''' 
+        a. Turn off the power, and remove the Pendants from the backplate.
+        b. Turn on the power, and listen for the relay to click, and the PC/104 to beep.
+        c. If the relay clicks and the PC/104 beeps, the safety board is working, but the pendants are not.  Contact Barrett for repair.  
+        d. If the relay does not click, and the PC/104 does not beep, the safety board is not working. 
   === Reason: The safety board fuse is blown  ===
 '''Solution(s):''' 
-        a. Remove, test, and replace the fuse on the safety board 
+        a. Remove, the fuse, reference designator F1, on the safety board.   
+        b. Test the fuse for continuity using a Multi-meter.  If fuse is open, replace the fuse with a new one.  Fuse type is 250V, 10A, 5x20mm Slo-Blo.  
   === Reason: There is no power  ===
 '''Solution(s):'''
-        a. Check for proper voltage at the source (wall or battery) 
-        a. Check for any custom current-limiting circuits you may be using 
-        a. Check the output voltage of the power supply (should be 48 VDC, nominal)
+        a. Check for proper voltage at the WAM's power supply source (wall or battery) 
+        a. Check for any custom current limiting circuits you may be using.  This may include the current limit dial on a variable power supply, or self limiting circuitry on commercial power supplies 
+        a. Check the output voltage of the power supply (should be 48-51 VDC, nominal)
+  === Reason: The Puck is in Firmware Download Mode  ===
+'''Solution(s):'''
+        a. Make both positions of switch SW3, near the puck, is in the correct position.  They should be away from the puck (towards PC/104) for normal operation.  If they are not, the puck will not start the safety board.  
   === Reason: There is some other electrical problem  ===
 '''Solution(s):'''
         a. Contact Barrett for repair
-
 ----
 
@@ -286 +294 @@
   === Reason: The Puck power bus is shorted together. This could be due to a stuck relay, loose wire, metallic debris on Safety Board, or a damaged Puck.  === 
 '''Solution(s):'''
-        a. Contact Barrett for repair 
+        a. Turn off power, and remove the three pin connector J9 from the safety board.  Do not move the WAM once J9 is disconnected, it is no longer braked.
+        b. Try to shift Idle again.  If the safety board re-initializes, then there is an issue with the safety board.  Contact Barrett for repair, or repair procedure.
+        c. If the board no longer re-sets on shift idle, then the short circuit is in one of the Pucks in the WAM.  Remove the Bhand, (if applicable), and re-Idle.  If there is no failure, the problem is with the Bhand.  Contact Barrett for repair.  
+        d. Remove the Wrist (if applicable, and try to Re-Idle.  If there is no failure, the problem is with the wrist.  Re-attach the hand to the outer link, and make sure there are also no faults on the Bhand.  
+        e.  remove the power connector from each of pucks 2-4, and re-idle.  Each time there is no failure, re-connect a puck.  Each time there is a failure, keep that puck disconnected.  
+        f.  After determining which of pucks 1-7 or 11-14 is the cause of the failure, contact Barrett for repair.