Hello everyone.
I’m getting alarm 4335 on one of the controllers that I’m trying to bring back to life. I swapped the servo card and still the same thing we just rebuilt the robot for this controller with new wire harness and a few new servos. This controller was running at one time about 5 months ago before going to the shelve. We don’t have extra cable that got to the robot from the controller but on the on the outside the ground shield has continuity. If you guys have an idea let me know pls.
ps the fauld is on all servos SLURBT
PS Motoman NX100 HP20
Alarm 4335
- samaniego721
- Thread is marked as Resolved.
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Alarm 4335 is a ground fault. One phase of one motor has gone to ground. This problem can be in the controller, the base cable, the robot internal harness or in a motor. To find the location of the problem, turn the controller off, unplug the 2BC cable from the controller and then turn the controller on. If the alarm is still active, the problem is in the controller, if it is gone, turn the power off, plug the cable back into the controller and unplug the other end at the robot. Turn the power on and if the alarm comes back the problem is in the 2BC cable. If you still have no alarm, turn the power off, plug the 2BC cable back into the robot and unplug the motor power connector on each motor. Turn the power back on. If the alarm comes back, the problem is in the harness. if it does not come back, plug each motor in one at a time to find what motor is causing the ground fault.
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Thanks Robodoc.
Last night before I went home started to work on the very last thing you just recommended and yes it turn out to be a servo motor cable that was pinch between the servo and the robot housing. Half of the wires were completely gone. After the motor was replaced now I’m getting alarm 4328 (servo tracking error) on B and T axis. Do you think it actually damaged the servo card or the amplifier and if you do what would you replace first taking in consideration the short circuit we had (ground fault)?
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With the servo tracking happening on both B and T axis, I would start by looking at the brake power.
Use the manual brake release to see if you can hear the brakes releasing (you should hear a click) and you can try to turn the axis by hand. If you can then the brakes are releasing. If not there is something wrong in the brake release circuit.
The brake power comes from the NTU card and does not have anything to do with the servo system (amps, servo control card...) The brake power goes into the robot through the 2BC cable and there is a single wire for each axis and two commons. The first common is for S and L. the second common is for U/R/B and T. This common wire snakes up the arm to the U/R area and splits off for the U, R and B/T axis. The B/T axis are in a separate harness that passes through the R axis into the B/T motor area.
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It had to do with the last wire harness you mentioned. I was not involved at the time it was fix but for what i was told it was a lose wire that came off when the wire harness was installed. I guess form now on we will have to double check when we FULLY rebuild our own robots, the good think is that it was the spare robot and that we tested it before it was needed. thanks for the help.
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Hello everyone,
This advise has helped me narrow down our issue as when we disconnected the 2BC cable from the controller we had the same faults appear. My question would now be where would the best place to start investigating in the controller?
Thank you for your help!
PS This is a NX100 controlling a es165
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Hello everyone,
This advise has helped me narrow down our issue as when we disconnected the 2BC cable from the controller we had the same faults appear. My question would now be where would the best place to start investigating in the controller?
Thank you for your help!
Since this thread is 7 years old, the controller generation would help.
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Sorry, This is a NX100 controlling an ES165
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In your first pot you say "PS Motoman NX100 HP20". Is this the same robot or are you working on a new robot?
You also say you have unplugged the 2BC, but if this robot is a ES165N it will also have a 3BC. Have you unplugged that?
Did you do the brake release test?
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In your first pot you say "PS Motoman NX100 HP20". Is this the same robot or are you working on a new robot?
You also say you have unplugged the 2BC, but if this robot is a ES165N it will also have a 3BC. Have you unplugged that?
Did you do the brake release test?
Thank you for the assistance,
as it turns out we had accidently switched some of the connectors on the 2BC cable when we were installing the new wiring harness. found this when we were verifying all our connectors.
once again thank you for the assistance and the quick replies.
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