I have a 1400 that has given random 39215 and 50052 errors. thinking axis 6 was a problem, changed wrist to no prevail, then changed motor 6 and still getting the errrors pointing to IRB6. Its a welding robot and the errors happen at various arcON points or anywhere within a weld. getting frustrated Maybe missing the small easy fix. anybody got a suggestion?
torque command error irb1400
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TillageBots -
June 26, 2015 at 8:17 PM -
Thread is marked as Resolved.
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Since it happens while welding, this could be noise on the resolver signals:
Route weld cable away from robot cables.
Visually inspect manipulator cables and make sure the shielding is not damaged.
At the SMB unit in the base, make sure the exposed shielding of each feedback cable is tie wrapped to the metal bracket on the SMB unit.
Check and verify the continuity of the axis 6 cable shield from motor to SMB unit.
Check grounding - make sure everything is properly grounded.Problem can be hard to find if the shield issue is intermittent.
If the both servo amps are the same, try swapping their positions. Not a likely solution but easy to try.
Try another SMB unit (move robot to cal position first).