December 16, 2018, 06:16:24 AM
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 hard and soft envelope errors staubli RX90 CS7


Author Topic:  hard and soft envelope errors staubli RX90 CS7  (Read 1132 times)

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May 10, 2018, 03:10:47 AM
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skyrange


i have sudden hard and soft envelope errors.  First error mentioned motor 2, subsequently all attempts to move the arm , including using pendant,  trip the arm power.
individual attempts to move motor 1, 2 3,4, all trip the arm power. any help appreciated greatly

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=26766.0

Today at 06:16:24 AM
Reply #1

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May 10, 2018, 03:48:32 AM
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TygerDawg


The CS7 controller is old (& obsolete).  When was the last time the battery was checked?  I have a vague recollection that a dead battery might give those errors.
TygerDawg
Blue Technik
Virtuoso Robotics Engineering
www.bluetechnik.com

May 10, 2018, 04:17:29 AM
Reply #2
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skyrange


thanks for your reply,
are you referring to the dallas chip clock battery in the sio board ?
we had an issue there about three years ago,
different error messages and led indicators highlighted that malfunction.
am i overlooking another battery somewhere ?

regards


May 10, 2018, 11:48:37 AM
Reply #3
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TygerDawg


  :hmmm:  Hmmm...isn't there a battery in a black case hiding somewhere in the controller?  Approx dimensions  125 mm X 100 mm X 75 mm or so?  I could be wrong...it has been many years since I was inside a CS7 cabinet.

May 10, 2018, 08:03:59 PM
Reply #4
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skyrange


We have the cabinet open at the back , cannot see any battery. Looking closely at all the led indicators.We have an identical robot and controller doing a similar task, all the led inticators are matching and look ok . Could anyone suggest parts to swap over ? We are not sure but suspect a sensitivity issue . The arms move freely , we have checked and tested all the wires from the motors to the amplifiers. Appreciate any input thanks.       

Today at 06:16:24 AM
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May 10, 2018, 10:37:23 PM
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skyrange


Dear TygerDawg
We have a round black capacitor in the back, shortly after turning off, we took a reading of around 190v
the voltage slowly reduced after shut down, our second robot( fully functioning) did the same.   regards

May 11, 2018, 01:38:30 AM
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TygerDawg


Other than pull, clean, degauss, and re-seat all cables, I have no further suggestions.  It is time to contact Staubli technical support.

May 12, 2018, 05:35:25 AM
Reply #7
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skyrange


Dear TygerDawg

Sorry to bug you with my problem
There is a lot reference to the back up battery as you described.
There is an image of it with an RPT board and switch in the manual. (along with position description)
Both our controllers do not have it.
the boards on the front are 030 SIO MI-6 ACB
is one of these doing the work of the RPT possibly ?

kind regards
 

May 14, 2018, 01:49:13 AM
Reply #8
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skyrange


installed new motor 2 and robot went to home position ok.
no more hard or soft envelope errors.
a new error "amplifier error motor 1"
the amplifier card has an orange over current light comes on for a couple of seconds before going red .
any clues ?

May 26, 2018, 06:40:49 PM
Reply #9
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redwingz


Skyrange,

Looks like you have a problem with the amplifier card.  Swap it with your working robot.  Also, for clarification, if you have an 030/SIO/ACB/MI6 boards you don't have the large backup battery in the controller.  Your system uses resolvers instead of encoders to maintain calibration with power off.  The large battery was used in the AWCII versions of the controller.

Regards, John

Today at 06:16:24 AM
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May 31, 2018, 08:00:27 AM
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skyrange


Redwingz

You are correct, thanks for that.
my original hard and soft envelope errors were caused by a faulty selector switch on the brake board on the arm.
 



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