Hi people,
I'm experiencing a "data loss" on two identical robot systems, one MH180 with DX200, both come up at power on with:
ALARM 1325 COMMUNICATION ERROR (ENCODER) [SLURBT]
and
ALARM 4107 OUT OF RANGE (ABSO) [SLURBT] while the other robot says only [SLURBT]
From what I already know, 4107 is not to be considered because I can just do a "confirm position" in work-home-position (or second-home, never remember...), while the 1325 on L axis means that there's either no communication or a loss of communication between encoder L and the controller.
I'm not on site, but I've been on the phone for an hour or so with a mechanical technician explaining the situation, tried to give some directions to restore the system to normal operation... at a certain moment he just yells "CONNECTIONS TO THE L AXIS ARE TOTALLY MISSING!" and he confirmed that both connectors for power and encoder were hanging freely in the air
What I told him to do so far is:
-Shut the controller down and wait 5/10 minutes
-Unplug 1BC and 2BC cables
-Plug power and encoder connector to the servo
-Plug back on 1BC and 2BC
-Fire up the controller and check alarm occurrence
What happened after that is:
-Controller booted nice&clean
-Got ALARM 4107 highlighting L (again, and that's what I was expecting)
Under ROBOT, HOME POSITION, all axes had their abso value except for L.
Few minutes ago, under "some" pressure, I told the guy on site to write the missing absolute value (looking at the calibration one in the cabinet) in the HOME POSITION menu.
What I'm missing, since I had no possible contact with my local Yaskawa dudes all day long, is:
How do I fix the darn problem? I mean - what does it take to get back to that moment before disconnecting the L encoder?
I could guess a CMOS restore in maintenance mode but I don't remember if this is allowed in management or safety mode...
And..
Is it correct to just write the missing abso data? The robot has been standing in transport position since its arrival so I'm thinking that what I've done it's wrong because he starts again form zero and not from THAT known position, and maybe I should have done that after putting L to mechanical zero...