So I needed to replace the memory backup battery in an RC-3 controller. This is the controller for the CS-4230CM robot. I knew that by disconnecting the old battery, I would lose certain information, primarily paramset and calset information. So after I installed the replacement battery, I entered the new paramset(PLIM, NLIM) and time and date information. However i cannot do a calset.
If I turn on motor power, I get either an 122 error or an 123 error. These are over current at the 2nd and 3rd axis. However, the axis are not in a bind. They are at mid-point. I did a memory clear, BCLR 123, and verified the paramset (PLIM, NLIM) and time and date information. Still I get the 122 and 123 errors.
I have noticed that when the 123 error occurs, the 3rd axis drops a little. Now after my attempts as rectifying the situation, the 3rd axis is bottomed out. With a 24vdc power supply, I can release the brake and raise it back up.
I have also noticed that on occasion, as if by luck, I can get into a setup menu that is in Japanese. The rest of the menus are in English. In this Japanese setup menu, can either turn features on or off. They all seem to be on. There are some parameters that I cannot change, like what I believe to be timeout. Parameters that I can enter values are ORUNJ1 to ORUNJ4. I have set these to 10, which is what they were before.
The motor cable seems fine, it passes continuity tests. I also don't think this would be a problem, as I replaced the RC-3 battery only.
For the sake of thoroughness, I did do a encoder reset on all 4 axis, and that did not solve the problem.
So, does anyone have any ideas?
I cannot help but think I have either forgotten to reset some item, or I need to enter a value somewhere.
I can see RANG values printed on the robot, and RANG values on the RC-3 controller cover, yet I cannot find anywhere to enter them.
Thank you in advance.