3.出错指示（［EPROR］LED灯亮）
机械手主要由手部、运动机构和控制系统三大部分组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等。
CARD 3-542-1260A
MAD130B-0200-SA-S2-BQO-05-A1
系统技术文件包括说明书、电气原理图、电器布置图、电气元件明细表、PLC梯形图。
任何PLC都具有自诊断功能，当PLC异常时应该充分利用其自诊断功能以分析故障原因。，一般当PLC发生异常时，首先请检查电源电压、PLC及I/O端子的螺丝和接插件是否松动，以及有无其他异常。然后再根据PLC基本单元上设置的各种LED的指示灯状况，以检查PLC自身和外部有无异常。
这些故障，都可以用合适的故障诊断方法进行分析和用软件进行实时监测，对故障进行预报和处理。
（八）整理和编写技术文件
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