Author Topic: Hand Broken  (Read 4039 times)

lrsgi

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Hand Broken
« on: May 18, 2009, 05:43:21 PM »
Hello, all!

I've got my Fanuc R2000i with RJ3iB controller up and running, but I get a SRVO-300 Hand broken fault which prevents me from jogging it unless I  hit reset.

I've looked up this fault and found this:

SRVO--300 SERVO Hand broken/HBK disabled

Cause: When the HBK setting is disabled, a hand--broken signal was detected.

Remedy: To remove the alarm condition, press the reset button.
Check whether the hand--broken signal circuit is connected to the robot.
If the circuit is connected to the robot, enable the hand--broken setting.
Refer to the maintenance manual.


That is all well and good I suppose, but I don't have any idea what HBK settings and hand-broken signals are.  It also refers me to the maintenence manual, which I don't have.  Does anyone have any idea how I can prevent this alarm from occurring?

Offline kbpatton

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Re: Hand Broken
« Reply #1 on: May 18, 2009, 06:11:02 PM »
This should help.

lrsgi

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Re: Hand Broken
« Reply #2 on: May 18, 2009, 06:20:40 PM »
Thank you for that.

Am I to understand that if the robot has no end effector installed, which is the case here, that there is nothing I can do about this particular alarm?

Offline Mtech

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Re: Hand Broken
« Reply #3 on: May 18, 2009, 08:51:32 PM »
Can you jumper your EE connector to complete your circuit.

lrsgi

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Re: Hand Broken
« Reply #4 on: May 18, 2009, 09:02:21 PM »
I figured it had something to do with the EE connector, but unfortunately I have no idea how to jump it.

Offline Lerak

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Re: Hand Broken
« Reply #5 on: May 19, 2009, 03:46:27 AM »
The hand broken feaure is a safety device to add between the wrist face plate and your end of arm tool.

It is to detect collision and stop the robot like an E-Stop.

Since RJ3-iB, the bypass of the hand broken signal in software intead of hardware as before

If you use collision guard option, you do not need Hand Broken signal and you could bypass it in MENU-SYSTEM-CONFIG and check for Hand Broken item and choose Disable.
If it starts well the first time, you haven't checked all !

lrsgi

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Re: Hand Broken
« Reply #6 on: May 19, 2009, 04:31:01 PM »
Thanks for the information, Lerak, but unfortunately I tried that yesterday and while it did eliminate SRVO-300, it gave me SRVO-006 HAND BROKEN instead.

While we're on the subject, how do you bypass the hand broken signal in the hardware of older controllers?  I've seen it in RJ2 controllers before as well.

Offline Lerak

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Re: Hand Broken
« Reply #7 on: May 19, 2009, 05:58:41 PM »
If you got alarm SRVO-300, it's because Hand Broken is disable, but detect conductivity between HBK and 24 v signal on EE connector or servo card.


SRVO-300 SERVO Hand broken/HBK disabled

Cause:
A safety hand broken is detected when setting of HBK is disabled. The most likely cause is the HBK signal of a robot connection cable being from 24V to the 0 V level.
Remedy:
Press reset key to clear alarm. Verify whether robot has hand broken equipment or not. If it doesn't have, HBK signal status is changed



SRVO-006 SERVO Hand broken

Cause:
The safety joint (if in use) might have been broken. Alternatively, the HBK signal on the robot connection cable might be a ground fault (0V) or a cable disconnection.
If the Hand broken signal is not in use, it can be disabled by a software setting. Refer to the Controller Maintenance Manual for information on how to disable the Hand broken signal.
Remedy:


Press the SHIFT key, and press the alarm release button to reset the alarm condition. Continuously press the SHIFT key, and jog the tool to the work area.
Replace the safety joint.
Check the safety joint cable.
Check the FS2 fuse on the servo amplifier.
If the SRVO-214 Fuse blown alarm is also generated, the FS2 fuse has blown.
Verify the following for connector RP1 at the base of the robot :
There are no bent or dislocated pins in the male or female connectors.
The connector is securely connected.
Then verify that connector CRF7 on the servo amplifier is securely connected. Also verify that the RP1 cable is in good condition, and there are no cuts or kinks visible. Check the robot connection cable (RP1) for a ground fault or a cable disconnection.
Replace the servo amplifier.


On other controller: RJ: jumper at bottom of axis control board (HBK) you should set on A side or B side.
                               RJ3: jumper on servo card (CRM37A), you have a jumper connector in the controller to replace the normal connector .
If it starts well the first time, you haven't checked all !

Routerguy

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Re: Hand Broken
« Reply #8 on: May 22, 2009, 03:18:06 AM »
This could be has simple as blown fuse, fuses