Looking for help with Cobra 600 + PA4 compact

[Mich]

I bought a used Cobra 600 with an PA4 compactcontroller.
I have trouble getting it up and running looking for someone with experince with these, just to get me started in the right direction.

Fisrst problem was dead, completely dead.
Replaced internal 5V/12V/-12V PSU, had main transistors in switchmode blown (Phihong open PSU)
Now system is booting into V+, however, the controlvoltage is not present, the light on the external controller is not comming on either, fan is blowing, lights on Dual C amps are all red, except top 2, which are green.

I'm oke with electronics and programming in different languages.

[Jim Tyrer]

Is the 220/240 V AC 'high' voltage to the controller on? That's what no lights on the amp (external controller) sounds like.

[Mich]

Is the 220/240 V AC 'high' voltage to the controller on? That's what no lights on the amp (external controller) sounds like.

Hi,

Thank you for your reply. Much appreciated.

I got a little further , actually, reading the manual is a help ;)
So far i got the system voltage up, but the high voltage for the robot arm is not comming on (taken from 380V 3Phase). Seems i need a terminator on one of the user-ports, but since i didn't get it with the controller, i'll have to build one myself.
System is in an E-stop status, which is caused by not jumpering the optional E-stop on the J-USER port (i think...i hope....).

Will try some jumpering in the morning per the manual, see what happens.

Mich

[pitl]

Hi Mich,

you're right. As long as the E-Stop Led on AWC is red you will have an hardware E-Stop circuit open in your system. In this case you can't ENABLE POWER. Internal E-stops you will find on CIP and MCP, if present. If you have a MCP the MCP enable switch can also cause an E-stop. External E-stops are connected to JSIO and JUSER on the CIP.

If you have a MV4-Controller, the small one inside the PA4-rack, make sure that all 4 screws are tight after you have changed the power supply. Behind the screws is also a safety switch.

Pitl

[Mich]

Thanks pitl for your reply.

Not got much time at the moment to solve this adept riddle, but found some time today to do some jumpering on the JSIO and the JUSER.

The high voltage light on the CIP finally came on, and managed to switch the high voltage on. All of the leds on the Dual C Amps are still red (which is no good i think), but played around a little with the MCP. I do get the coords from the arm, and they change when i manually move the arm.

When i type 'calibrate' in the V+ window, i do get a power down request on the screen, and the high voltage goes down.

I tried to manually move the arm with the MCP, but got nowhere.... or at least, i have no idea how to do it ;)
Suppose i have to dig a bit more in the manual.
The MCP complains something about the controller not in automatic mode or something ;)

This fiddling about is to find out what more is faulty on this arm besides the internal PSU which i replaced, before is start to make a project out of this, trying to put it in my production line.
Since i got this setup off ebay, i always suspect there's stuff wrong with it. Payed a low price, so there's reason to believe so.

I think i have tightend all the screws down well, since i remember reading that in the manual. I'll check that again tommorrow.

[pitl]

Hi Mich,

if you can enable the high power all screws are tight properly.

The red led's on the amps show you that the system isn't calibrated and the motors are not powered. The ENABLE POWER powers only the PA4 when the system hasn't run startup calibration succesfull.

If your CALIBRATE dosn't work the system should give you an error message. The error message you will see when a PC is connected to your system.

If the HIGH POWER switches off during CALIBRATE in the first two seconds you will a short fault or open line on a motor. But also a misconnection on the amp can cause this. On the first amps you must connect Ctrl 1 (Top) and Ctrl 3 (Bottom). On the second amp connect Ctrl 2 (Top) and 4 (Bottom).

If your CALIBRATE switches off the HIGH POWER when an axis calibrates, moving the home sensor and back to the zero index, then you wil have an sensor or encoder fault.

I hope this helps a little bit.

Regards,

pitl

[Mich]

pitl, thanks for your reply again.

I fiddled a bit more with the jumpering on the JUSER, found another few i needed to jumper (DOH! there's a list in the manual...).
Finally it all went up and running, except for a 'open ckt fault' on amp 2.
So i did a quick measure through the cable to find an open connection.
Bit of a nightmare to work on, but one of the wires had came loose from its pin in the big rugged arm connector. Took the connector itself apart to reconnect the wire, to find out i had to be realy lucky to get it back together.... .... spent a few minutes, and it all went back in again. Powered it up, system booted, and the program allready in the controller asked for a high-voltage signal. Pushed the button, and it all came alive. Managed to run the MCP in manual mode and control the arm manually. Bit slow, but that must be because its in manual mode (as i read in the manual...RTFM!)

I suppose from here on i need to get into V+, but at least i now know i have something good to start off with.
Payed just over 1000 euro for the arm and controller, incl CIP and MCP, even comes with a VIS (EVI)-board.

They must have yanked the cable out when the arm was taken from the production line it has been before.

Thanks a lot for your help guys, as soon as i will be putting this thing into work, i suppose more guestions will arise, and surely this will the place to be.

A+