servo-021 SRDY off alarm

[joop]

Hi Everyone,

I have an S-10 robot with a RJ controller and am trying to get it up and running. I only have experience with the R30iA controller from Fanuc. The problem is that i get the Servo -021 alert on all axes, When i follow the troubleshoot procedure it doesnt help. Now i want to check all the wiring but can not find any electrical diagram. Maybe somebody of you has them?

Maybe i forgot a jumper? What i know is that the contactors on the picture below must be activated to get voltage on the servo amplifiers. And does somebody know what the servo on button is for?

Thanks in advance!