Author Topic: E0052 Servo error :Battery discharged or encoder abnormal (S Axis) - SA160F-01  (Read 1517 times)

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Offline Dancy

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Ok,
Sorry baby, I have been neglecting you standing there in the middle of my shop. I have not turned you on in many months and now that I have, you don't want to talk to me and you won't play nice.

Well that sorta says it. Been really cold down here this winter in the shop. When I first fired her up I had that error on several axis. I replaced all the batteries in my SA160F then used the reset jumper on each of the axis. All seemed to come back normal except the S axis.

I have tried several things. My robot does not have the capacitors with the batteries. I found each encoder/resolver has a super cap internal. I tried leaving the plug to encoder off all night. Tried discharging the super cap. Last thing I did was swap the H and S axis resolver connections and yes, the error moved to the H axis then. I reconnected the cables back to there respective resolvers. So it appears that my problem is in the resolver itself. I Don't have a great deal of information on these resolvers in order to determine if it is bad or just confused. I can tell you when the reset jumper is connected to any of the plugs, I do get the "beep" out of the pendant and a message saying E0051 Servo error :Data transmission error (? axis) where ? is the axis reset. Apparently the S axis resolver is talking to the AR controller. The wiring diagrams I have show ten signal lines:
SIN +
SIN -
COS+
COS-
OUT1+
OUT1- 
OUT2+
OUT2-
OUT3+
OUT3- 

I don't know what I should see if I scope those.

Another clue, I can't get into the encoder correction under Constant Settings. Think it is because of the E0052 preventing "Motors On"

Any help getting my SA160 back up would sure be welcome.
Thank you!

Offline Dancy

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Eh....I fixed her

Offline dhysta

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hi dancy..
how did you fix the error E0052 ? what was the real problem ?
i'm having a same error on NB04L with EX21 controller..

Offline r013071c5

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Yeah.... please share how u resolve it Dancy... it would be good to share the knowledge.