Results from brainstorming session:

Table 1

Potential causes Possibility To be tested (Y/N)

Robot's Firmware High Y

Robot's Controller High Y

Communication to Robot's Medium Y

controller

System's PC Low Y

Overall System's Low Y

communication

System's Software Low N(if overall system's

communication passes

test)

Robot's Manual Controller Medium Y

Robot's cables Low Y

Motion Controller Low Y

Motion Cables Low N(if motion controller

passes test)