Hello,
I just got a MRCII SV3 that had an external axis connected to it. The encoder and servomotor were not included. It does have the external servopack in an attached cabinet. When I power it up, I get a 121 serial encoder error. Axis 1 - 3, Axis 4-6 both give four words of data, but then Axiz7-8 have 0000 0000 0000 (three words) of data. I went into configure setup and even reinitialize back to arc welding but could not find anything to delete the external axis. (no base, no stations). Chained cables running from robot servopacks to external sevopack, but disconnecting does not help. I figure that there must be some jumper or rotary switch setting to tell the robot that there is an external axis but because the servo motor/encoder is not hooked up, it freaks out and does not come up. Just want to start robot by itself and disregard the external axis. Any help would be greatly appreciated.
Thanks in advance,
Jeff
Error 121 Not the external axis. Any Ideas?
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tiredold -
April 26, 2014 at 4:46 AM -
Thread is marked as Resolved.
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Hi , you need to reinitialize the controller as a SV3 Robot only , to do this you will need the Yaskawa codes and procedures . If you don't have these details I would suggest you contact your local Motoman dealer , it should only take then 30 mins at most.
You might even be able to sell them the unwanted servo-pacs etc. -
Hello,
I reinitialized as a robot only (no base or stations) (in Yaskawa Mode) and arc application but the Axis 7-8 0000 0000 0000 still comes up. I think I am missing something. I thought perhaps there is a jumper or switch settings on one of the robot servos or cards telling it there is an external axis. It is usually a small thing that get me stuck.
Thanks -
Hi , I'll look for MRC external axis drawings I have some somewhere , but they are not MRC11.
As Memory serves me , there are dip sw/s on the MSV01 servo control PCBs.
I would also look at initalizing the MIF01 & all files if you haven't already. -
Thank you. I would really appreciate it.
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Hi,
see attached Part One , this is for a standard MRC , I'm not sure how relevant it is to your MRC11, however,
it could make the difference in knowing what to look for. -
Thank you.
I had the information already, but it does not apply to a MRC II. The II had totally different servo drives and not MSV board. I spoke to Yaskawa at length and determined that the "extra" servo is not controlled by the robot directly, (no interpolation) but rather just a stand alone positioning unit. They thought that the encoders needed to be reset, so I unplugged the encoders and put the bat and 0V together in the harnesses. I left them over night but still no go. As for listing axis 7-8 in the error screen, I was told that was the default and show up whether axis 7 or 8 are installed or not. So I am back at the beginning. Error 121. One odd thing that I never noticed in other error codes, in the highlighted box it says Alarm 121 and then real small letters nsn and ini or something like that. Once again, any help or direction would be greatly appreciated.