Error 4027 APC comunication error 040, P100 RH Controller

[VictorPesero]

 

Once I upload software, screen started to prompt 4027 APC Communication error 040. I already reset the controller, but problem stills there.
It is a problem with the 6th axis, but I dont know what to do..

Thanks!!

[anonymous]

The P-100 robots were notorious for having cable problems during installation. Usually, you could find the fault in the Pyle-National connectors located in the pedestal (base) of the robot. Sometimes, however, the connectors that attach in the robot controller were damaged when the main cables were pulled.

Make sure none of the pins on the ends of the cables are pushed out of their plastic connectors. Look for pins that aren't clamped to the wire's conductor -- sometimes they are crimped to the insulator. Many times there is inadequate interference between the male and female pins in the connectors. If you have a spare male pin, insert it into each female pin to check the tightness of fit (you should feel some interference during insertion). If you find a loose female pin and don't have a spare pin, carefully snug the female pin up using a small set of needle-nose pliers.

A 4027 is a encoder communication alarm, and it can be reset by rebooting the controller (alas, another 3 minutes gone by).

The encoder (Pulse) signals pass through the P1 connector module in the robot's pedestal (cable connectors C1P1 and C2P1).