Hello everyone
I have a IRB6400C (COMPACT) which I am trying to make work
This is a very different irb 6400 from the one that is widely known.
It's a compact version which is designed to work on a shelf so it reaches under itself. It's believed that this was specially designed FOR GM. Not sure to what extent this is correct.
It has been a long journey and still not finished as it's still not working..
Firstly it wouldn't work at all..
After fiddling about with removing and inserting boards managed to get it to the diagnostics screen only to find out that it needed a cold boot.
Someone here in the form has helped me and sent me some system discs for basewRe 2.0 and 2.1
I have installed the discs...
It goes though a process where firstly install the 3 baseware discs, then it loads the teach pendant language disc, then finally it asks me for a IRB6400 disc.
I take it this last disc is where we load the information about the type of robot we got?
After loading and installing this last disc it asks me for what type of robot..
This is where I think I have the first problem
I don't think mine is a 2.4m 150kg... I think it's a 2.4, 160kg.. not sure...
Either way, does it make a difference???
Should it still move around, even if I choose the incorrect one?
Then after doing this and once it warm boots it throws at me a load of errors...
The order on the display as follows...
38001 - battery backup lost
33107 - Incorrect DC-Link type
50057 - joint sync. Error
50057 - joint sync. Error
50057 - joint sync. Error
50057 - joint sync. Error
10002 - program reset
20030 - Axis not commutated
10034 - Axis not commutated
10007 - Program started
20001 - Enable Chain open
10014 - System failliure state
10015 - manual mode Selected
10002 - Program Reset
10005 - Program Stopped
20076 - not allowed command
If I press ok the warnings screen goes away and takes me to a welcome screen
If I push the deadman switch to try and move the arm, it bounces back with the error
2030 - one or several internal drive unit axes are not commutated.
If I go to system and try to commutated the axis (whatever that means ) it won't allow me and bounces back with error
Error
Servots.c 760 not allowed if servo task not initialised ok...
I would much appreciate if someone in the know could help me figure out a way to move the robot even if only by using the joystick initially
I am trying to find out if the machine is actually working, the motors mechanical parts etc..
The arm It is in very good condition.
Really appreciate if someone can help...
Thank you all for reading...