I recently got a used Motoman Sk6 welding robot. the welding units were removed before I bought it. This robot was part of a larger cell that included an operator station, a large press, 3 additional servo axis, and probably more. It looks like some things were set up for external buttons for the dedicated I/Os. I finally have access to 3phase power and have it booted up. My first time powering it on, the MEW02 board blew up, its only a resistor so ill replace that and re install later.
All of this was done in Simulated Online Mode, as In regular mode, I cannot get past the Alarm 0090
The main alarm I am getting is 0090, I/O communication issues. It is bothering me a little bit.
The Playback Box is NG. its getting 24v but nothing is lighting up on the front buttons
The MRY01 is NG. not communicating as it would seem,
The MBB01 is getting 24v and 5v from the internal power supply on the CPU rack.
The MTU02 appears to not be getting the signals it needs. the SVMX and BRX lights on the board do not light up. The relays appear fine and the 4amp fuses are not blown according to my multimeter.
The MIF01 board is communicating fine with the rest of the system.
The Programming Pendant is working well, thats the only reason I know about these codes.
This is the main problem I am trying to wrap my head around.
The Pendant is (correct me if I am wrong) plugged into the Playback box, which is plugged into the MBB01, which is plugged into the MIF01[edit. ok so the pendant is basically just wired to the MIF01]. The pendant works, but nothing else appears to. [edit ok so the PlaybackBox is also like an I/O module with the same JL-012A chip. So the MIF01 is not talking to any of the other JL-012A chips, I dont know why]
I have reinitialized the robot, and set it to be General Purpose. I have removed the MIF01 board, and plugged it back in, and re initialized it. That cleared 2 Major codes, a 1211 MCCB TRIPPED, and 1210 MCCB TRIPPED, which have yet to show up again.
I am also getting a few minor alarms that I dont think should be on there. I am thinking that they are all related to the 0090 alarm, as they seem to be tied in to the MTU02 board
4670-over run in robot axis
I am under the impression this is not a big deal, as it happens to the fanucs I work with all the time.
5090- DC 24V POWER SUPPLY FAILURE
my multi meter would disagree, the power supply is not displaying any alarm lights, im getting 24v at the playback box CN1 and at the I/O bus MBB02
5100-SHOCK SENSOR ACTION
as far as my reading has taken me, I should have this disabled by jumping TM4, pins 1 and 2. the shock sensor cable looks like it goes from the MTU to a welding board mounted on the inside door of my MRC cabinet, from there it goes out through the feeder cable iim guessing, and then all i have is the toughgun Eoat with no welder or cables but a plug for the shock sensor. I dont want to use it so I have disabled it but I cannot clear the Alarm.
5110- BRAKE FUSE BLOWN
according to my multimeter, this is not the case. the brake fuse appears fine.
My attempts to clear these Minor alarms have been in vein. Seeing as this robot was part of a custom work cell, and that it has had some of its parts removed before I bought it, I am really hoping this is going to just be a wiring/parameters thing and not a blown hardware thing. I am very confused as to why the pendant would work and not the playbackbox.
I would appreciate any help from the robot experts on this forum. Ive read a lot of manuals and other MRC/SK6 threads on this forum before posting this one.
This is not a work/professional thing for me, this is more of a labor of love. My friend and I bought this robot, and unloaded it our selves from the truck, and it was soooo heavy.
I now want to remove all the welding related boards and cables (power source/feeder cables) from the machine so I can have it in a more vanilla state. because Im not sure where else to go with this before just replacing boards. The MRY01 board does not appear to have any damage such as blown up components.
The tool on the end of arm is EoAT#001, Claw tool. it makes it look way more classic robot.