CS7A+RX60L Hard/Soft envelope errors on all motors

    Hi all,
    We've managed to make the cable, calibrate the robot but are now getting weird errors and no movement.
    Switching the controller on, it runs though it's calibration routine fine and eventually all the indicators are fine. And we can power up the arm fine with amber lights on HFE and all the axis but when trying to DRIVE any of the joints we get the following


    And when we try to move to the mark position we get the following:

    Code
    .do move #mark
*Time-out nulling errors*  Mtr 6


    Does anyone know what could be wrong? It seems that we are sooo close to getting it working!


    Any help, even a push in the right direction, would be highly appreciated.


    Thanks!
    Mentar

    Have you tried turning the selector switch on the arm base to JT1, press the brake release and see if you can move the arm?


    Be cautious of Jt2 & 3 as the arm can drop when you press the brake release. :waffen100:

    Check Power on Relays in the Back of the controller AP1 & AP2 come on when you press the Green Power on Button. If not you will get a Envelope Error as the Power Amps have no power. All the happens when you issue a ENA PO command is enabling the Power Amps not Powering them.

    RoboFutbol: Yeah, we did that as we needed to align the marks for calibration, the brakes work as expected.


    Puma560: Will try it tomorrow, and will post the results here.


    Thanks guys

    It is now working. The final piece of the puzzle was the 'arm power off' switch which is not present so the amps weren't powering up... Linked it out temporarily on the safety board and power was restored.
    Thanks for the help guys!
    No doubt back soon with programming questions :smiling_face:
    Paddy

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