High-speed operation of the IRB 360 places demanding requirements on mechanical synchronization and encoder condition. Before repairs, back up the system parameters and review the alarm history for each axis.
Inspect the parallel arms, ball joints, cables, and servo drives, and locate the source of any excessive play, abnormal temperature rise, or unusual noise.
After reassembly, perform calibration and a no-load test run, then gradually increase the cycle rate and payload to verify trajectory accuracy and pick accuracy.