Hi guys, I just bought a second hand MRC II sk6 and tried to power it up and after have to do a maintanence mode start up and initialize all the memory I can't get the servo drives to power up. On the MTU01 board the small OMRON (relay 4) seems to switch on and the led labelled (SUMX) lights up briefly and then after a short time the error 5390 appears. I have read the other posts and I don't have a deadmand switch on the system (CN8 has a jumper on it shorting the pins) and neither of the 2 large contactors are switching. I read in another post about altering the S2D0001 and S2D0002 paramters to both be 255 but I can't alter the SD parameters even after entering the password in the customer menu. Any help or wiring diagrams would be much appreciated...
MRC II alarm 5390 Servo on error
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andrew1452t -
November 19, 2014 at 1:17 AM -
Thread is marked as Resolved.
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On the MTU board, are there 4 relays or 5? If one of the sockets is open you may need to install a relay in that socket.
It could also be the MTU board, the MRYo1 board, the I/O back plane ( the rack the I/O cards plug into) the MSP card (the one on the back of the palyback box) or the MIF01 card.
You say you bought this robot used. Was it running when you bought it? If not, pull the MCP01 and get the version number on the piggy back card (MMM02(??? 04 ???). This should say what robot it is for and has to match the robot type you have. It will also have a version number. Post the version number and I can look up the chip and other card numbers that must match the version you are running.
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There are 4 relays installed in the MTU board. I have installed a fifth relay but still no good. Manipulator is SK6 and controller and manipulator have the same serial number. Robot was not running when I bought it, it was in storage and needed a maintenance mode boot and initialization of memory. The MCP10 board has a piggy back card on it which is MMM02 and the version number is for robot SK6 C00 which is correct. The MMM02 board has the following details printed on it:
JANCD-MMM02 - 5E REV.D2
DF9200720-C2
SN RP1306-7Z4-16-18
J1.27A(E)-00/1.08J
SK6-C00Cheers, Andrew.
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Just an update...
I manually connected the two large contactors whilst pressing the servo on button on the teach pendant and got the robot to move. So there is no problem with the robot and associated controllers being faulty, it is just in the servo power on sequence. I have read through the manual and I am trying to check if the 4077 or 4087 specific input signals are being forced on but I can't find the menu to access them. My documentation states:
Press [DISP] key and then [F5] (DIAG) key.
Buy my teach pendant displays (APL) above the [F5] key...
I am relatively new at this so please don't dismiss the fact that I am doing something completely stupid... I am after all from Australia, so everyone knows things move in the opposite direction down here...
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Hi Andrew, not completely familiar with MRC 11 , however,
Is the main Contactor closing and then immediately opening ?. If so I woulld suggest you take this Contactor out , strip , clean AUX contacts with paper ( don't use abrasive emery paper or such) , and reassemble . Try the easiest things first.
These types of alarms are usually associated with the power being put too the servopacs. -
No, the main contactor is not switching at all. The overall condition of the unit is very clean and I don't see any real problem with the electonics as proven by the fact that it moves as it should if I manually connect the main contactors. I am thinking something maybe more software related or some signal forcing the servo off...
Would anyone have a wiring diagram for this machine? I am competent in following wiring diagrams if anybody has them...
Andrew.
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I have the manual that has the wiring diagrams in it, but for some reason the system will not allow me to share.
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Hey Viper,
Can you email to me? I will PM you my email address.
Cheers, Andrew.
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Sent ... Let me know your progress.
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Thanks Viper,
Problem sorted. It seems there is a solid state relay, part number srb-na-r-c15-24v which I had to connect terminals X1 and X2 together to start the servo drives. This unit must have had safety curtains or some other external safety devices wired into this relay before the servo drives can fire up. I have to investigate further in relation to the safety devices but thanks to all your information.
Cheers, Andrew.
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Great job, I'm glad it worked out for you.
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hi .
i have a sk6 dual robot, first give me an alarm one servo drive , overcurrent, then replace the dricve and star to move, then shut off and when i back to on and try to put on the servos send me an alarm 5390. on the panel of the robt 1 i lesson some sound, like a buzz.
any help please?