Hi Guys,
A while ago we purchased 2 410iWx's off trademe.co.nz (Ebay for New Zealand) for our small manufacturing business in New Zealand.
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They arrived with no manuals or passwords and we had no experience with Robots.
With the help of the Forum we managed to reset the password get the first one and have installed it and have it running. (video at the end of the post)
So now it is time to crack on and get the second robot up and running.
Let the fun begin
So the current situation.
The Robot has power and powers up normally. So far so good.
As the robots have been powered down for some time (years) we expect to get some errors.
The first error that pops up is the SRVO-075
SRVO–075 WARN Pulse not established(G:%d A:%d)
Cause: The pulse coder does not know its own position yet.
Remedy: Jog the axis manually by more than one motor rotation.
Sweet - I think i can do that.
So turn the teach pendant on and jog the robot.
(Sounds of Doom) The next error.
Note the Error Code "8" on the first Servo Amplifier.
SRVO–149 SERVO HCAL(INV) alarm (G:%d A:%d)
Cause: Refer to SRVO–045.
Remedy: Refer to SRVO–045.
SRVO–045 SERVO HCAL alarm(Group:%d Axis:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded specification.
Remedy: Disconnect the motor power wires from the servo amplifier and turn on power. If an HCAL occurs, replace
the transistor module or servo amplifier. Measure the resistance between GND and U, V, W individually on
the cable terminals. If shorted, determine if the cable or motor is bad. Check the resistance between U–V,
V–W, and W–U using a measuring instrument sensitive enough to detect small resistances at the cable
terminations. If the resistances are the same replace the servo amplifier. If the resistances are different,
determine if the cable or motor is bad. If the problem persists, replace the SIF module on the axis control for
the defective axis.
Geeperz! This sounds hard!
Right so lets work through this in order,
1. Disconnect the motor power wires from the servo amplifier and turn on power.
I am uncertain which is the motor power wires at the servo amplifier so I disconnected at the Servo.
Is this right?
So I power up the unit, first the SRVO-075 error, -> Attempt to Jog the Robot -> SRVO–149
So at this point is this is indicating either the Servo Amplifier is no good or the transistor Module?
How would you check to know which is not working?
Any ideas on what I can do to get this going?
Thanks in advance.
As promised here is the video of the robot that we have in action, all shot on an iphone.