Hello,
I have a MRC K6 that is doing arc welding. After the weld is finished, I have a K10 reach over with a stud welder. I forgot to hook the ground up for the spot welder, and after a weld the K6 went down. It shows alarm 120 on U R B and T axis. I put the S encoder feed onto the R B and T axis (on the servodrive) and they showed good. Not so for the U. After a little playing, L went down too. Put spare encoder on T and it showed good. So I am guessing U is bad in the servodrive, but R B T should be good. The troubleshooting guide says to check the ground from the encoder to the IAMP. Stumped as to where that is. Also, I feel that the R B T and U encoders (hopefully) will come back after resetting (which the guides indicates after checking ground). I left T with pins 2 and 6 (6 pin plug) shorted overnight. If the welder grounded back through the robot, any grounding wires should be first to go, but did not see any burnt (at least out in the open or inside base of the robot). Any help would be greatly appreciated.
Thanks in advance.
Jeff (who should know better).
I am dumb, No weld ground, now error 120
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tiredold -
June 9, 2015 at 4:04 AM -
Thread is marked as Resolved.
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Check the encoder cables screen , if the earth screen is compromised , encoder errors can follow.
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Thanks, but there is no encoder cable screen on a MRC. The other thing is, sometimes S works, sometimes not. Not quite sure. Swapped S and L in robot base and S still showed good. Thinking both servo packs bad, but encoders good. Swapped encoder on T, also sometimes good, sometimes bad.
Thanks,
Jeff -
What you have done is send the weld return (ground) through all the motor ground cables and encoder shield cables. The MRC controller uses the chassis ground as a voltage reference. Depending on how long you were welding like this you could have done damage to any internal harness, the base cables, the servo packs and the MSV cards. Long and short (no pun intended) it's time for a new robot.