6-3.6.2. 夹头/肘节滚筒故障
夹头/肘节滚筒故障。进行以下步骤，以便隔离夹头/肘节滚筒的故障。分解步骤参见第 6-4 节。

A. 将夹头/肘节滚筒与悬臂组合件拆开，以便能够接近 Molex 连接器 M17。

B. 将数字电压表连接到连接器 M17 的“电源一侧”，引脚 3 和引脚 4。

C. 启动夹头/肘节滚筒开关，检查电池正负电压是否都存在。

D. 如果 M17 上有电压，且夹头/肘节滚筒的机械性能正常，则更换肘节滚筒组合件。将夹头与夹头/肘节滚筒组合件分开的分解步骤，见第 6-4 节。

E. 如果 M17 上没有电压，则转到以下步骤。
1. 打开顶板，取下 PiP 模块。分解步骤参见第 6-4 节。

2. 对于车体接口板上条形灯 LA 4（肘节滚筒逆时针）和 LA 1（肘节滚筒顺时针）的位置，参见图 6-5。接通夹头/肘节滚筒开关，检查灯是否亮。

3. 如果在操作开关时，应该亮的条形灯亮了，则转到步骤 5。

4. 如果在操作开关时，有一个条形灯不亮（且只有一个功能有故障），则更换开关盒或公文包。如果问题仍然存在，请联系遥感技术服务部，电话：（865）-483-1492。

5. 对于主继电器板上肘节滚筒逆时针和肘节滚筒顺时针双色灯的位置，参见图 6-6。接通开关，检查主继电器板上标有“肘节滚筒”的双色灯（红/绿）。逆时针时，双色灯亮，呈红色；顺时针时，绿色。

6. 如果主继电器板上应该亮的双色灯亮了，且连接器 M17 的引脚 3 和引脚 4 上没有电压，则问题出在主继电器板与连接器 M17 之间的连线上（例如，插孔胀大了）。必须检查连线的连续性。接头位于悬臂内，肘节延伸与弯头之间，弯头与下悬臂管之下，以及侧翼和车体机架之下。各个连接器的具体引脚输出，见图纸 B-2450-9340 和 D-2450-9910。
7. 如果开关接通时，应该亮的双色灯不亮，而车体接口板上应该亮的条形灯亮，则更换主继电器板。分解步骤参见第 6-4 节。
F. 如果问题仍然存在，请联系遥感技术服务部，电话：（865）-483-1492。

华译网上海翻译公司曾经翻译过大量有关夹头/肘节滚筒故障资料文件，Beijing Chinese Subtitling Translation Service Agency has translated many technical documents about gripper/wrist roll failures.

6-3.6.2.  GRIPPER/WRIST ROLL FAILURES.  Perform the following procedures to isolate the failure of the Gripper/Wrist Roll.  Refer to Section 6-4 for disassembly procedures.
 
A.  Disconnect the Gripper/Wrist Roll from the Arm assembly to gain access to Molex connector M17. 
 
B.  Connect a digital voltmeter to the “power side” of connector M17, pins 3 & 4.
 
C.  Activate the Gripper/Wrist Roll switch, checking for the presence of both positive and negative battery voltage.
 
D.  If voltage is present on M17 and the Gripper/Wrist Roll is mechanically intact, replace the Wrist Roll assembly.  See Section 6-4 for disassembly procedures to separate Gripper from Gripper/Wrist Roll assembly.
 
E.  If no voltage is present on M17 proceed to the following steps:
 
1.  Open Top Cover and remove PiP Module.  Refer to Section 6-4 for disassembly procedures.
 
2.  Refer to figure 6-5 for location of the Bar LEDs LA 4 (Wrist Roll CCW) and LA 1 (Wrist Roll CW) on the Vehicle Interface Board.  Activate Gripper/Wrist Roll switch and confirm illuminations. 
 
3.  If correct Bar LEDs are illuminating when operating switch, proceed to step 5.
 
4.  If either Bar LED does not illuminate when operating the switch (and there is only a single function failure), replace the Switchbox or Briefcase.  If problem still exists, contact REMOTEC Service Department at (865)-483-1492.
 
5.  Refer to figure 6-6 for the location of the bi-color LED Wrist Roll CCW and Wrist Roll CW on the Main Relay Board.  Activate switch and check bi-color LED (Red/Green) on the Main Relay Board labeled WRIST ROLL.  Bi-color should illuminate RED for CCW and GREEN for CW.
 
6.  If the correct bi-color LED is illuminating on the Main Relay Board and NO voltage is present on pins 3 & 4 at connector M17, the problem exists in the wiring between the Main Relay Board and connector M17 (e.g., female pins spread apart).  The integrity of the wiring should be checked.  Connections are located inside the arm between the Wrist Pitch Extend and the Elbow below the Elbow and lower Arm Tube, and below the Shoulder and Vehicle Housing.  Specific pin outs for each connector are found on drawings B-2450-9340 and D-2450-9910.
 
7. If the correct bi-color LED is not illuminating when activating the switch and correct Bar LEDs are illuminating on the Vehicle Interface Board, replace the Main Relay Board.  Refer to Section 6-4 for disassembly procedures.
 
F.  If the problem still exists, contact REMOTEC Service Department at (865)-483-1492.