Test for deterioration

To check the deterioration of dampers, see the single joint servo log (torque command value %) when the robot is in motion.
If the dampers have deteriorated, the torque command value (current) increases.
A guide for replacement is 90% of the maximum current. If the peak value exceeds 90%, replace both dampers.

Keeping a Joint Servo Log

Use a single joint servo log program and Teach Pendant to keep a single joint servo log.
For details, refer to the "Acquiring, Displaying and Saving Servo Log" of "Teach Pendant Operation Guide".

1

Create a logging program, referring to the sample program given below.

Sample Program for Logging Single Joint Servo

'!TITLE "absorber"

Sub Main
	Takearm Keep = 0
	Speed 100
	Move P, P50
	Syslog.Servo.Clear
	Syslog.Servo.Start
	Delay 200
	Move P, P51
	Delay 200
	Move P, P50
	Delay 400
	Syslog.Servo.Stop
	Givearm
End Sub

2

Carry out the program.

3

Acquire a servo log by teach pendant.

Press : [F2 Arm]-[F3 Servo State]-[ServoLog tab]

To display the following [ServoLog], press [ServoLog tab].

4

After changing drawing axis J3 and position deviation to [Torque], then press [Refresh] to confirm the torque value.