Repair Tools and Case Studies
1. Name：
2. SlaveLog读取结果为656 585 3136 3136 3136 3136 262 3136 3136，问题出现在哪个位置？ The SlaveLog read result is 656 585 3136 3136 3136 3136 262 3136 3136. Where is the problem?
A.J3
B.J4
C.J5
D.J6
3. CCBOX搭配CRA进行启动，SlaveLog会读到多少个数量？ When CCBOX is used in conjunction with CRA, how many items will SlaveLog read?
A.9个
B.8个
C.7个
D.6个
4. 使用MobaXterm软件访问CRA机器人控制器时登陆密码是？ What is the login password when accessing the CRA robot controller using MobaXterm software?
dobot
CR123
dobot123
dobot888
5. 在 maintenance tool 中导出log压缩文件后解压密码是？ What is the password to unzip the log compressed file after exporting it from the maintenance tool?
CR666
CR888
dobot123
dobot888
6. AnalysisStudio工具在使用时软件中需要添加哪个通讯设置？ Which communication settings need to be added to the AnalysisStudio software when using it?
A.修改成不同IP Change to different IPs
B.勾选enable modbus Check "enable modbus"
C.修改从站ID号 Modify slave ID number
D.修改从站端口号 Modify slave port number
7. 在 klogg 中分析长达数 GB 的 DOBOT 运行日志时，为快速定位 Error Code: 0x1F02（关节过载），最高效的方法是： When analyzing a multi-GB DOBOT operation log in klogg, the most efficient way to quickly locate Error Code: 0x1F02 （Joint Overload） is:
A. 仅查看日志最后 1000 行 Only view the last 1000 lines of the log
B. 逐行滚动查找 Scroll line by line manually
C. 先用 grep 命令预处理日志再导入 Preprocess the log with grep before importing
D. 使用关键字 Error Code: 0x1F02 并启用 “Mark All” Use the regex Error Code: 0x1F02 and enable “Mark All”
8. 为在 klogg 中实现对 WARN、ERROR、INFO 等日志级别的语法高亮，应： To enable syntax highlighting for log levels such as WARN, ERROR, and INFO in klogg, you should:
A. 导入自定义的 .khl 高亮规则文件 Import a custom .khl syntax highlighting rule file
B. 修改日志源代码中的输出格式 Modify the output format in the log source code
C. 在 klogg 设置中启用 “Auto-detect format” Enable “Auto-detect format” in klogg settings
D. 使用内置的 “Syslog” 高亮模板 Use the built-in “Syslog” highlighting template
9. 若控制器有电但机械臂完全无电，最应优先检查哪一项？If the controller is powered but the robot arm has no power at all, what should be checked first?
A. 示教器是否连接正常 Whether the teach pendant is properly connected
B. EtherCAT 网线是否插好 Whether the EtherCAT Ethernet cable is plugged in
C. 开关电源的 48V 输出是否正常 Whether the switching power supply outputs normal 48V
D. 是否启用了急停 Whether emergency stop is activated
10. 使用 MobaXterm 登录控制器后，应查看哪个日志文件以诊断 Bootup 失败？ After logging into the controller via MobaXterm, which log file should you check to diagnose bootup failure?
A. /var/log/syslog
B. /var/log/servo.log
C. /home/user/error.txt
D. dobot_main.log
11. 以下哪种情况会导致整台机器人完全无电（控制器和机械臂均无灯）？ Which of the following scenarios would cause the entire robot to have no power （no LEDs on either controller or arm）?
A. ESI 文件版本错误 Incorrect ESI file version
B. 某关节驱动板 48V 对地短路 A 48V short circuit to ground in a certain joint drive board.
C. 示教器固件过旧 Outdated teach pendant firmware
D. PID 参数设置不当 Improper PID parameters
12. 在排查“机械臂灯闪烁”问题时，以下哪项操作顺序最合理？When troubleshooting "flashing arm LEDs", which sequence is most reasonable?
A. 测量供电电压 → 检查重载电缆 → 查看 ServoLog Measure power supply voltage → Inspect heavy-duty cable → Review ServoLog
B. 升级固件 → 检查电缆 → 核对 ESI 版本 → 测量电压 Upgrade firmware → Check cables → Verify ESI version → Measure voltage
C. 更换电机 → 调整 PID → 重启控制器 → 检查 Redmine Replace motor → Adjust PID → Reboot controller → Check Redmine
D. 关闭碰撞检测 → 降低速度 → 拧紧螺丝 → 重装系统 Disable collision detection → Reduce speed → Tighten screws → Reinstall system
13. 机器人在匀速运动过程中出现高频抖动，应如何调整速度环 PID 参数？If the robot exhibits high-frequency vibration during constant-speed motion, how should the velocity-loop PID be adjusted?
A. 提高增益，减小积分时间 Increase gain, decrease integral time
B. 保持默认参数，更换减速机 Keep default parameters and replace gearbox
C. 仅增大微分项 Only increase derivative term
D. 降低增益，增大积分时间 Decrease gain, increase integral time
14. 机器人在低速运行时出现周期性抖动，最可能的硬件原因是？ What is the most likely hardware cause of periodic vibration during low-speed operation?
A. 编码器信号干扰 Encoder signal interference
B. 减速机背隙过大或磨损 Excessive backlash or wear in gearbox
C. 电源电压波动 Power supply voltage fluctuation
D. 示教器屏幕刷新率低 Low refresh rate of teach pendant screen
15. 为什么机器人在奇异点附近容易抖动？ Why does the robot tend to vibrate near singular configurations?
A. 电机电流达到上限 Motor current hits limit
B. 微小末端位移导致关节速度突变 Small TCP movement causes abrupt joint velocity changes
C. 碰撞检测被频繁触发 Collision detection is frequently triggered
D. 48V 电源负载过重 48V power supply is overloaded
16. 以下关于“误报碰撞”的说法正确的是？ Which statement about "false collision" is correct?
A. 只有发生物理撞击才会触发 Only triggered by physical impact
B. 动力学参数错误可能导致误报 Incorrect dynamics parameters can cause false alarms
C. 与伺服固件版本无关 Unrelated to servo firmware version
D. 仅出现在高速运动中 Only occurs during high-speed motion
17. Redmine 系统在处理误报碰撞案例中的主要作用是？ What is the primary role of the Redmine system in handling false collision cases?
A. 自动生成维修工单 Automatically generate service tickets
B. 存储并共享已验证的故障解决方案 Store and share verified troubleshooting solutions
C. 远程控制机器人重启 Remotely reboot the robot
D. 监控客户网络带宽 Monitor customer network bandwidth
18. 当机械臂通电后状态灯持续闪烁（未进入运行态），以下哪些可能是根本原因？ When the robot arm is powered on but the status LED keeps flashing （not entering operational state）, which of the following could be root causes?（Multiple choice questions）
A. 控制器与本体之间的重载电缆接触不良 Poor connection in the heavy-duty cable between controller and arm
B. EtherCAT 主站配置的从站数量与实际硬件不一致 Mismatch between configured and actual number of EtherCAT slaves
C. 某关节伺服驱动板 48V 对地短路 48V short to ground on a joint servo board
D. XML文件版本与当前固件不匹配 XML file version does not match current firmware
19. 以下哪些措施有助于抑制机器人的抖动？（Multiple choice questions）
A. 启用软件中的“抖动抑制”功能 Enable "vibration suppression" in software
B. 拧紧底座固定螺丝 Tighten base mounting screws
C. 在路径中避开奇异点 Avoid singularities in path planning
D. 设置正确负载以及偏心 Set the correct load and eccentricity.
20. 导致力矩超限异常的可能硬件因素包括？ What are some possible hardware factors that could cause torque to exceed limits?（Multiple choice questions）
A. 抱闸未完全释放 Brake not fully released
B. 编码器线接触不良或断开 poor or broken encoder wire contact
C.动力学参数文件错误 Dynamic parameter file error
D. 示教器电池电量低 Low battery in teach pendant
21. 为确保 EtherCAT 通信成功初始化，必须满足以下哪些条件？To ensure successful EtherCAT communication initialization, which of the following conditions must be met?（Multiple choice questions）
A. 所有从站（J1–J6 + IO）固件版本与主站配置一致 Firmware versions of all slaves （J1–J6 + IO） match the master configuration
B. XML描述文件与当前从站固件兼容 XML description file is compatible with current slave firmware
C. 机械臂处于 HOME 位置 Robot arm is at HOME position
D. 主站配置的从站数量与实际硬件数量一致 Number of slaves configured in master matches actual hardware count
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