AW-005C... The encoders have been reset successfully, batteries replaced and now it is trapped in "org adjustment" set of menus. Hitting the enter, teach and arrow keys on the pendant move it through different screens, but the robot has never moved at any time (not even during overrun release). I'd expect to power each axis when requested to line up the marks, but it has never budged. The "servo" is on, the brakes released and motors are humming.
Like most used robots, it came with no manuals!
Any suggestions
AW-005C stuck in "Org Adjustment" screens/manipulator does not move
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jrnsr -
August 16, 2014 at 2:56 AM -
Thread is marked as Resolved.
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To Adjust the Origin, you need to enter maintenance mode. When it loads up to Org Adjust, press 0, 0 on your teaching pendent to enter maintenance mode. If this works, let me know and I'll PM you the instructions for Remastering your robot.
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Thanks, I'll give it a try today. Did you ever resolve your "safety holder" issue? If it is on the board, I'm assuming the terminals connect right to an optocoupler IC, and as a last resort, you might solder in a replacement. I had to do that with a robot years ago and it saved that input.
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We actually ordered a new board for the safety hold issue, but had to scavenge parts from the down robot to keep our other robot running. I will look at that for fixing the old board though, as the new board did fix the problem, so it was on that board.
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I'm around Ann Arbor, MI. Where are you located. Why I ask is, in case you have any interest, I'm scrapping out an AW-0660. I think I'll open a new post in case anyone needs parts.
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Hitting 0, 0 made no changes. The keys/buttons can maneuver through the various different screens, but nothing registers. It always returns to the "org adjust" page on startup. When it asks to line up marks, the manipulator can not be driven in any of the axes. It also refuses to move when in "overrun limit release" and I would expect that it could be powered then.
If the emergency circuit prohibited movement, it ought to display the emergency error. EMG I/O is jumpered at terminals 1 & 2, but 3 & 4 are open. The safety holder does shut the servos off; SH 5 & 6 are jumpered and the torch holder is wired in to 6 & 7.
I've used the Origin Adjustment manual posted here for the AW-006 as a guide, but it is a bit vague.
In your safety holder post, you mentioned " All of the switches seem to activate accept for the BRK switch, which appears to control a brake system on the servos once they are activated." That's new to me. Where might they be located? It sure sounds like the brakes release when the servo button is pushed.
I looked at the 005 I/O board and see it does not have individual optocoupler for each input, like the older models.
About all that I can think of that wasn't tried is ask it "Mother may I?" -
These are about eight years ago. Let's try...
-Turn on power.
-Turn on Servos
Org adjust
-Press Start (on the controller!!!)
-1 axis
-1 Set axis
-Setup
-Select axis with Enter or Cancel highlighted axes (BW:-90 others: 0 )
-End
-End
-2 Encoder Rest
-1 Standard Position
Fit Marks
-Teach Enable
-Fit Marks on selected Axis (could you jog the robot now ?)
-Teach Enable
-End
-1 Yes
-Enter Code
-End
-1 Axis
-1 Set Axis
-Setup
-Select all axis
-End
-End
-Turn off power
-Turn on power
-Enter Code
-Org adjust
-4 Std Pos Srh
-Press Start
-Check Marks (if fit, done; or reset again) -
and when move the robot, maybe you have to press the MOVE keys with the ROBOT OPR key ?
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Thanks very much! I'll go through these again, step by step, tomorrow.
Question: Shouldn't this robot move in "Overrun Limit Release?"????? The older ones did, but we didn't have to deal with encoders for origin.
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Did the following in order, as would be expected by prompts on the teach pendant....
-Turn on power.
-Turn on Servos
Org adjust
-Press Start (on the controller!!!)
-1 axis
-1 Set axis
-Setup
-Select axis with Enter or Cancel highlighted axes (BW:-90 others: 0 )
-End
-End
-2 Encoder Rest
-1 Standard Position
Fit Marks
-Teach Enable
-Fit Marks on selected Axis (could you jog the robot now ?)No, robot still does not jog. -
Yes, you should be able to move the robot when you power it up in "Overrun Limit Release."
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Thanks for that bit of info.
I can't help but think there is either some contacts not satisfied somewhere or a combination of buttons on the pendant not activated in proper protocol. Since I have no manuals, I'm "groping around in the dark." At present, there is only a jumper in "emergency input" and the "handswitch" wires engaged from the torch holder (both shutdown controller when opened).
A perfect example of "groping around in the dark" is a Fanuc I just got operational. 1) There happened to be an open wire in the pendant cable which prevented any display at first; 2) even though there is no peripheral equipment, and no error messages displayed, terminals had to be connected in a peripheral cable, or the robot was disabled 3) the deadman switch, switch on the side of the pendant and a shift key all needed to be activated before any axis button would move the manipulator (4 switches protocol required for jogging). LIVE AND LEARN!
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It has finally showed signs of life! I went back into Overrun Limit Release mode, and flubbed around again and determined, yes, it requires a unique button sequence before it is satisfied to jog- 1) TEACH ENABLE on, 2) hold ROBOT OPR down, 3) then depress an axis key. At least the arrows can be matched up now.
Going back into "Org Adjustment" there are some oppurtunities where the teach enable button functions, so the robot went to what it thought was STD Position on its own power, and then another screen let me run it back to line up the marks again.
At this point, I find myself rerunning the same screens over and over but nothing sticks. When it boots back up, it wants all axes reset again.
My next venture is to go through the encoder reset, shorting pins 13 & 16 again, in some screen after the manipulator is in STD position.
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You may also need to replace the batteries, both in the robot arm (in its base) and the case battery. The battery life is very low on those when power is not applied to the system.
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SUCCESS!!! Thank you above posters, and other Panasonic forum members for your support. It would have been virtually impossible without the "encoder-reset-AW006A & AW010A.pdf" and the advice from above holds the critical details. The AW-005 has some different screens and that threw me off a bit, but the major stumbling block proved to be the "code" 3 9, which had been used since the early 1980s, didn't work. Every time I input the code 3 9 as directed in the instructions, it responded with "input correct code" which I hoped meant "you did input correct code" but it really meant it wanted a different code. Substituting 0 0 finally set the encoders and standard position!
Now I have to figure out how to program this turkey without manuals. They were a whole lot simpler way back when. I shouldn't complain as my son at age 3 used to start up and run robots around while I was at work. I asked him how in the world he knew how to do that... his response "I just matched up the letters on the screen with the letters on the buttons."