AGV故障诊断手册1.AGV故障诊断概述.................................................................................................................51.1编写本手册的目的.......................................................................................................51.2AGV故障诊断手段.....................................................................................................51.3常见故障的分类...........................................................................................................62.AGV控制系统回顾.................................................................................................................72.1AGV控制系统结构回顾.............................................................................................72.2AGV控制系统的自动保护功能.................................................................................82.3在动态合装段中停车的处理.......................................................................................82.3.1合装段的操作者暂停停车......................................................................................82.3.2合装段的E-stop停车..............................................................................................92.3.3合装段的故障停车..................................................................................................92.3.4合装段的合装超时停车..........................................................................................93.AGV启动故障.......................................................................................................................103.1AGV启动过程...........................................................................................................103.2启动引导代理程序介绍.............................................................................................103.3AGV主控制软件Carryboy的启动过程...................................................................103.3.1参数文件装入错误.........................................................................................113.3.2CAN设备初始化失败....................................................................................113.3.3AGV车体伺服轴初始化失败........................................................................113.3.4舵角校正失败.................................................................................................124.AGV一般设备故障的诊断.......................................................................................................124.1车体供电系统故障诊断.............................................................................................134.2车体主控制器VCU100故障诊断.............................................................................154.3基本数字I/O故障的诊断..........................................................................................154.4CAN通讯系统故障诊断...........................................................................................164.5手控盒设备故障诊断.................................................................................................174.6液晶显示器故障诊断.................................................................................................174.7保险杠及非接触防碰设备故障诊断.........................................................................184.8磁导航传感器及其接口模块...
