Check Whether Hardware Issues Exist

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In the stable production phase, collisions (between robot and camera mounting frame, gripper and bin, camera and bin) can lead to issues such as hardware deformation or breakage. In addition, long-term movement of the robot and camera may also cause the hardware to become insecure. Hardware issues could cause larger errors and, in severe cases, make the vision system unusable.

This section guides you in checking whether there are any issues with the hardware.

When troubleshooting hardware issues, perform the following checks:

Check item	Possible issues	Measures
Check the appearance of the camera. Check method: Observe whether the camera housing is deformed, or the lens is broken.	The camera collides with other objects, causing the camera housing to deform or the lens to break.	If the camera housing is deformed or the lens is broken, the camera needs to be returned to the factory for repair.
Check that the camera and the mounting frame are secure. Check method: Manually shake the frame to observe whether the frame has obvious shaking. If significant shaking is observed, the camera or the mounting frame is not securely mounted.	The securing bolts for the camera and the mounting frame may loosen over time due to the continuous movement or vibrations from surrounding objects.	Re-secure the bolts to keep the camera and the mounting frame secure.
Check whether the robot is securely mounted. Check method: Check whether the base and body of the robot are significantly shaking by translating or rotating the robot at 100% speed.	Long-term movement of the robot may cause the fixing bolts of the robot body and base to loosen.	Secure the base and body of the robot using bolts again.
Check whether the gripper is deformed. Check method: Perform a visual inspection to see if the various parts of the gripper are in abnormal shape or shifted. Pay special attention to key areas such as connection points, support structures, etc. If the abnormal shape or shift is observed, the gripper is deformed. This test is only used to check for significant deformation. If no significant deformation of the gripper is observed, use the Gripper Check Program check for deviations in the TCP of the gripper.	The gripper can be deformed due to collision, which can seriously affect the accuracy.	Replace the gripper, re-import the gripper model, and re-verify the TCP accuracy.
Use the “Gripper Check Program” to check for deviations in TCP. Check method: For instructions, refer to section Check Gripper Mounting.	Grippers can be overweight or wear out over time, resulting in deflections.	Adjust the TCP on the robot teach pendant and update the TCP value in the Mech-Vision or Mech-Viz software to match the true value. If you need assistance, please contact the technical support.

Check item

Possible issues

Measures

Check the appearance of the camera.
Check method: Observe whether the camera housing is deformed, or the lens is broken.

The camera collides with other objects, causing the camera housing to deform or the lens to break.

If the camera housing is deformed or the lens is broken, the camera needs to be returned to the factory for repair.

Check that the camera and the mounting frame are secure.
Check method: Manually shake the frame to observe whether the frame has obvious shaking. If significant shaking is observed, the camera or the mounting frame is not securely mounted.

The securing bolts for the camera and the mounting frame may loosen over time due to the continuous movement or vibrations from surrounding objects.

Re-secure the bolts to keep the camera and the mounting frame secure.

Check whether the robot is securely mounted.
Check method: Check whether the base and body of the robot are significantly shaking by translating or rotating the robot at 100% speed.

Long-term movement of the robot may cause the fixing bolts of the robot body and base to loosen.

Secure the base and body of the robot using bolts again.

Check whether the gripper is deformed.
Check method: Perform a visual inspection to see if the various parts of the gripper are in abnormal shape or shifted. Pay special attention to key areas such as connection points, support structures, etc. If the abnormal shape or shift is observed, the gripper is deformed. This test is only used to check for significant deformation. If no significant deformation of the gripper is observed, use the Gripper Check Program check for deviations in the TCP of the gripper.

The gripper can be deformed due to collision, which can seriously affect the accuracy.

Replace the gripper, re-import the gripper model, and re-verify the TCP accuracy.

Use the “Gripper Check Program” to check for deviations in TCP.
Check method: For instructions, refer to section Check Gripper Mounting.

Grippers can be overweight or wear out over time, resulting in deflections.

Adjust the TCP on the robot teach pendant and update the TCP value in the Mech-Vision or Mech-Viz software to match the true value. If you need assistance, please contact the technical support.

Check Whether Hardware Issues Exist

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