Looking for error code manuals for AR controller

[shortchevy454]

Hello, I  just bought a new/used surplus SA160 robot with AR52 controller. I am getting two errors when I try and start it up. E0050 and E0052. I know E0052 is the error for the batteries, which makes sense being as they have set for almost 11 years untouched. Do these robots use rechargable batteries? Maybe if I leave it on for a couple of days the batteries will recharge? I have a PDF operation manual and would like to find a error manual.

[wes862]

Batteries are not re-chargable that i have seen the are lithium batteries... once you change them out you need to reset the encoder with the jumper wire in the robot or there is a stand of on the PCB board that the batteries connect to and you have to short it to another pin from what I remember..

[shortchevy454]

Ok, thanks for the info. I see the two batteries in the controller, is that all there is? Also where which PCB are you speaking about? I am totally new to Nachi robots.

[wes862]

there is a pcb board inside the robot under one of the covers it has 6 batteries connected to it

[DJR96]

Hey Wes, does that apply to the AW controller as well?

I've got the Manipulator battery warning too. Are these in the base of the robot or in the controller somewhere?
The only battery I can see so far is one connected to the motherboard and it has voltage still.

My Motors light will blink but as soon as I grab the deadman switch to do anything, it throws error "E1001: PWM signal momentarily stopped."
Seems like it's related to the low/flat battery.

[DJR96]

Never mind. I delved into it myself.

AW series has six ER6V 3.6v lithium batteries and six Tokin FS 5.5v 0.47F capacitors mounted on a little cover between the interconnect cables on the base of the manipulator.
One of each for each axis encoder. Not sure why they are independent because it would appear they could share the batteries. Only one of them died, the other five are still OK. Enough to not allow the robot to move though.
I'll rig them up tomorrow until my replacements arrive.

[shortchevy454]

I will pull some covers today and see what I can come up with. I heard something about jumping something in the controller to clear the error.

[shortchevy454]

Well I found some batteries in the base of the robot but not like you described. There is only two of them and they are really junky. There wasn't a PCB either, just wired in and tied up with cables in there. So that makes four I have found all together now. Two in the controller and two in the base. Also I see a small jumper wire tool zip tied in there. Is that were I need to jump something to clear the error?

[shortchevy454]

Update, just found a total of six batteries in the arm. All bad of course. I have some on order now. Question is, when they get here how do I go about clearing the error? Thanks for your time everyone.

[DJR96]

Yep. Much the same as mine. The manipulator batteries were just mounted on the back of the panel which is only 3.5" square. And yes, a rather messy bunch of little connectors between the batteries, the capacitors and the loom.
Pretty much a fit and forget thing though. It should last a few years at least.
I think the error codes should disappear once it's getting the signals it's expecting. Although I'm not sure if there is some data that is going to be lost as a result of disconnection.
Might need to check that encoder offset correction data is still present. But that is data stored in one of the Constants files, so not sure if it's related to these batteries function.

[Bear in mind I have an AW controller model]

[DJR96]

Well you would think this E0052 error should clear itself with a full set of batteries re-installed wouldn't you?

Nup. So now I'm now up to needing to reset this error issue too.

Is this what the other loom labelled CNRST is for?  It has 1 x female bullet connector labelled P5E, and 7 x male bullet connectors labelled 481 to 487.
Do I just connect each of the male ones into the female momentarily and that's it?

[wes862]

I do not know for sure....
Nachi ar 8633 requires a jumper..... it was a few years back and a ar11  had some connectors the i plunged in and cleared...
Never had to clear on a aw controller but i know what you mean by a messy bunch of wires... the CNRST seams familiar for the reset on the ar11... there was a jumper on the door that i plugged in to the cnrst if my memory recalls correctly...

[DJR96]

Thanks Wes,

It's tempting to go ahead and try but I really don't want to risk stuffing something up if this is not what's meant to be done.
So until I either get solid advice from here or get my hands on the Maintenance and Service Manuals, I'm not game...........

[DJR96]

OK. I got game........

So answering my own question now. Yes, connecting each of those male bullet plugs into the female one for a few seconds brings up another code, then unplugging it brings yet another. 481=S, 482=H, 483=V, 484=R2, 485=B, 486=R1, and 487 doesn't do anything unless you have a 7-axis machine.
Then have to switch machine off. Turn it back on and no more E0052 error messages. Job done I believe.


However.
I now have another code that comes up just after I grab the deadman switch.
E1001 (--) PWM signal momentarily stopped.
It's "countermeasure" explanation says to replace the drive unit.

Sounds ominous. Sounds expensive.....

Any ideas anyone?

[DJR96]

Oh crap! It's the whole servo amp unit!

So I'll start a new topic on this.