115 | | |
| 115 | === Reason: The Pendant(s) are malfunctioning === |
| 116 | '''Solution(s):''' |
| 117 | a. Turn off the power, and remove the Pendants from the backplate. |
| 118 | b. Turn on the power, and listen for the relay to click, and the PC/104 to beep. |
| 119 | c. If the relay clicks and the PC/104 beeps, the safety board is working, but the pendants are not. Contact Barrett for repair. |
| 120 | d. If the relay does not click, and the PC/104 does not beep, the safety board is not working. |
121 | | a. Check for proper voltage at the source (wall or battery) |
122 | | a. Check for any custom current-limiting circuits you may be using |
123 | | a. Check the output voltage of the power supply (should be 48 VDC, nominal) |
| 127 | a. Check for proper voltage at the WAM's power supply source (wall or battery) |
| 128 | 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 |
| 129 | a. Check the output voltage of the power supply (should be 48-51 VDC, nominal) |
| 130 | === Reason: The Puck is in Firmware Download Mode === |
| 131 | '''Solution(s):''' |
| 132 | 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. |
288 | | a. Contact Barrett for repair |
| 296 | 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. |
| 297 | 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. |
| 298 | 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. |
| 299 | 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. |
| 300 | 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. |
| 301 | f. After determining which of pucks 1-7 or 11-14 is the cause of the failure, contact Barrett for repair. |