Looking for error code manuals for AR controller

[shortchevy454]

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...

I have a AR 11 controller. I see the little jumper tied to the inside of the door but I am not sure where to plug it in at to clear errors. I won't have my manuals for about a week and a half either. Any idea where to plug that jumper in to?

[DJR96]

If it's anything like the AW, there's a loom behind a cover on the manipulators base. My SF200 is between the interconnect cables. It's also where the batteries and capacitors are.
I think it's all covered in this topic now.

[sarigame]

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?

Not to worry... the error just means that you have successfully reset the encoders. Not you would have to do encoder correction and then this error would go off. What the error means is that the last known recorded position of the encoder and the current position (obviously junk value due to resetting) are so far apart that the safety system thinks there is something wrong with the drive unit.

This error has been carried forward to their new AX controller, but the AX controllers have better inbuilt support manuals which explain this phenomenon in much detail. Bad english but wonderful robots.

[DJR96]

Thanks for your input sarigame.

Does this mean that when the encoders are reset the robot should be in "pin" position?

If so, does this mean I will have to physically man-handle each joint to their pin position?

That's OK, I can manage that if that's what is required.

[DJR96]

OK. I've done a full encoder reset with robot in "pin" position, done the encoder correction and seem to have a full set of legitimate numbers.

[Can someone perhaps explain why some of the encoder correction values are around 522xxx to 524xxx mark and the others are -7864xxx to -7866xxx? They seem to be very different ranges of numbers.]

But I'm still stuck with this E1001 error............

[thedude]

At "pin" position, you should read hexadecimal 80000. You can verify this under the axis data monitor. How did you get the robot to pin position with the E1001?

Have you checked you safety inputs under the panel input monitor? Also are the connections for the robot to controller cables good, any bent or loose pins?

[DJR96]

How did you get the robot to pin position with the E1001?

The hard way!!!

First I got the wrist all straight. (The brake release switches work as they should.) Then I used a large ratchet strap to lift the arm up. Yeah heavy sucker! The balancer helps a lot with the lower arm. If anyone decides to do this - be careful!

Please see my other topic on the E1001 drive unit error:-
http://www.robot-forum.com/robotforum/nachi_robots/drive_unit_error_on_sf20002_aw1110-t8004.0.html

[trunkcnc]

here you have your ar error codes pdf. I just uploaded on the nachi manuals section.