Differences

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--- troubleshooting:no_alarm:robot_positions_incorrect [2020/09/13 23:06] – created user
+++ troubleshooting:no_alarm:robot_positions_incorrect [2022/01/03 10:59] (current) – user
@@ Line 1: / Line 1: @@
-====== Robot positions incorrect  ======
+====== Robot positions incorrectly ======
-TBD
+===== Description =====
-[[:troubleshooting:no_alarm:parked_position_tower|Tower parking]]
+If the robot does not position correctly during washing it could be due to a number of reasons:
+  * [[:troubleshooting:no_alarm:lost_memory|Memory lost ]]after restart
+  * Moved or faulty zero position sensors
+  * Faulty magnetic switch
+  * Setting boom zero position not in bottom (ie. accidentally set zero position when it is stuck)
+  * Wheels slipping, markers incorrectly mounted etc. making the wheels position incorrectly
+  * [[:parts:guidance_side_support_-wheels|]] have too big obstacles to climb in the aisle.
+  * Insufficient margins during programming so the robot run in to things in boxes which the program was not created in
+  * Incorrectly fastened nozzle coupling
+  * Tower or arm friction clutch released
+Lost positions will show when robot parks incorrectly between washing programs or when it does not wash where expected.
+===== Troubleshooting =====
+  * Redo the [[:service:service_instructions:homing_instruction|homing ]]
+  * Contact service and check parking positions
+  * Check [[:troubleshooting:no_alarm:parked_position_tower|tower parking]] position
+  * Check arm and nozzle [[:prog:parking|parking positions]]
+  * Check function of zero position sensors for tower, telescope, arm and nozzle at Manual screen. The [[:service:service_instructions:homing_instruction|black dot ]]should be visible when the position is zero.
+  * Check function of magnetic switch. The blue dot should be visible on the Start screen when a magnet is present.
+  * Follow the robot when it moves along the aisle to make sure the wheels do not slip or get caught on for example hinges