1、机器人编码器上数据存储的电池无电或者已经损坏拆卸编码器脉冲数据存储的电池安装盒，对电池盒每节电池的电压进行测量，均在1.4V以下，电池电压明显偏低，更换新电池，再对故障进行复位。

1. The battery for data storage on the robot encoder is dead or damaged. Remove the battery installation box for encoder pulse data storage and measure the voltage of each battery in the battery box, which is below 1.4V. The battery voltage is significantly low. Replace the battery with a new one and reset the fault.

2、控制器内伺服放大器控制板出故障，检查伺服放大器LED上方的2个DC链路电压检测螺丝，确认DC链路电压。如电压高于50V，伺服放大器控制板处于异常状态。电压低于50V，可初步判断处于正常状态。进一步对伺服放大器控制板的LED颜色进行观察，确认电源电压输出正常，没有外部紧急停止信号输入，与机器人主板通信正常可排除伺服放大器控制板损坏。

2. The servo amplifier control board in the controller has malfunctioned. Check the two DC link voltage detection screws above the servo amplifier LED to confirm the DC link voltage. If the voltage is higher than 50V, the servo amplifier control board is in an abnormal state. If the voltage is below 50V, it can be preliminarily judged that it is in a normal state. Further observation of the LED color on the servo amplifier control board confirms that the power voltage output is normal, there is no external emergency stop signal input, and communication with the robot motherboard is normal, which can rule out damage to the servo amplifier control board.

3、线路损坏对机器人控制器与机器人本体的外部电缆连线RM1、RP1进行检查，RM1为机器人伺服电机电源、抱闸控制线，RP1为机器人伺服电机编码器信号以及控制电源线路、末端执行器线路和编码器上数据存储的电池线路等线路。拔掉插头，对编码器上数据存储的电池线路进行检查。拔掉M1电机的脉冲控制插头M1P，同样的方法检查M2～M7电机全部为0，可判断编码器上数据存储的电池线路损坏。

3. Inspect the external cable connections RM1 and RP1 between the robot controller and the robot body for damaged wiring. RM1 represents the power supply and brake control line of the robot servo motor, RP1 represents the signal of the robot servo motor encoder, as well as the control power supply line, end effector line, and battery line for data storage on the encoder. Unplug and check the battery circuit for data storage on the encoder. Unplug the pulse control plug M1P of the M1 motor and use the same method to check that all motors from M2 to M7 are 0, which can indicate that the battery circuit for data storage on the encoder is damaged.

机器人编程技巧：

Robot programming skills:

(1)选择合理的焊接顺序。以减小焊接变形、焊枪行走路径长度来制定焊接顺序。

(1) Choose a reasonable welding sequence. Develop welding sequence to reduce welding deformation and the length of welding gun travel path.

(2)焊枪空间过渡要求移动轨迹较短、平滑、。

(2) The space transition of the welding gun requires a short, smooth, and safe movement trajectory.

(3)优化焊接参数。为了获得佳的焊接参数，制作工作试件进行焊接试验和工艺评定。

(3) Optimize welding parameters. In order to obtain optimal welding parameters, work specimens are made for welding tests and process evaluation.

(4)合理的变位机位置、焊枪姿态、焊枪相对接头的位置。工件在变位机上固定之后，若焊缝不是理想的位置与角度，就要求编程时不断调整变位机，使得焊接的焊缝按照焊接顺序逐次达到水平位置，同时，要不断调整机器人各轴位置，合理地确定焊枪相对接头的位置、角度与焊丝伸出长度。工件的位置确定之后，焊枪相对接头的位置通过编程者的双眼观察，难度较大。这就要求编程者善于总结积累经验。

(4) Reasonable positioning of the positioner, welding gun posture, and the relative position of the welding gun to the joint. After the workpiece is fixed on the positioning machine, if the weld seam is not in the ideal position and angle, it is required to continuously adjust the positioning machine during programming, so that the welded weld seam reaches the horizontal position one by one according to the welding sequence. At the same time, the position of each axis of the robot should be continuously adjusted to reasonably determine the position, angle, and wire extension length of the welding gun relative to the joint. After determining the position of the workpiece, the position of the welding gun relative to the joint is difficult to observe with the programmer's eyes. This requires programmers to be good at summarizing and accumulating experience.

(5)及时插入清枪程序。编写一定长度的焊接程序后，应及时插入清枪程序，可以防止焊接飞溅堵塞焊接喷嘴和导电嘴，保证焊枪的清洁，提高喷嘴的寿命，确保可靠引弧、减少焊接飞溅。

(5) Insert the gun cleaning program in a timely manner. After writing a certain length of welding program, the cleaning program should be inserted in a timely manner to prevent welding spatter from blocking the welding nozzle and conductive nozzle, ensuring the cleanliness of the welding gun, improving the lifespan of the nozzle, ensuring reliable arc ignition, and reducing welding spatter.

(6)编制程序一般不能一步到位，要在机器人焊接过程中不断检验和修改程序，调整焊接参数及焊枪姿态等，才会形成一个好程序。

(6) Programming generally cannot be done in one step, and it is necessary to continuously inspect and modify the program, adjust welding parameters and gun posture during the robot welding process, in order to form a good program.