====== Robot positions incorrectly ======

===== Description =====

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