What size is the disc drive?, early ones had 5¼" and later went to 3½".
Asea IRB 6/2 Robot !
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JoshuaBold -
March 26, 2017 at 10:36 PM -
Thread is marked as Resolved.
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5 1/4
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I think i saw that the floppydrive is optional. Sould it pass the floppydrive fault when i remove the entire unit?
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It reboot just now with no errors...
When synchin it moves to a position and stays there. I think the gears need oil and its giving a fault because it takes to much current. So lubin the shit out of this thing and try again.
I can move the robot with the joystick but it goes into multiple servo errors after a few minutes.
So gonna lube up and get back to you. Thanx all for all the help so far and ill keep you posted.
Me so happy -
Lubrication:
Axes 1,4 & 5, make sure you measure the correct amount shown in the manual, I used a 200cc syringe.
Axes 2 & 3, cut the cable ties and collapse the bellows to access the ball screws, wipe clean, then brush on a VERY thin layer of grease, too much will cause overcurrent alarm.
Lubricant types are in service manual. -
Check the axis control boards:
Axes 1 - 3 should be YYT102D with ILIM+ set to 14.5 and ILM- set to 14.5.
Axes 4 & 5 should be YYt102E with ILIM+ set to 4 and ILM- set to 4.
All 5 should have the S1 jumper (overload) between 7-8.If the rectifier over-voltage LED blinks when jogging, then the phase rotation is wrong. Swap two of the leads of the incoming controller power.
Also check the AC component of the rectifier output, it should be less than a volt when you jog. If higher, then the filter capacitor in the recifier is probably weak.
The Disk Memory #7 error should only occur when you try to access the floppy drive. FYI - I still have several new 5.25" DSDD floppies and a cleaning disk.
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Ok,
So I've adjusted all the voltages to the 14.5 and the 4.0 The 14.5 and the -14.5 were up at about 15.5-16.8. And ALL the 4.0 locations were 0.04 V away from the 6V... So u sure that it's supose to be 4.0 and not 6.0?
I've adjusted them anyway towards 4.0 and left it like that.
I cant find the locations for the oil replacement. Found some points i can open the space by removing a plastic cup of some sort. 2 on the middle piece, offcenter from each other and that makes no sense for starters..
At the back there are 2vertical axes with the spindel on top. here i also find 2 openings with these plastic cups. I've opent them but looks like they are used for disassembly.
I've found a fillpoint on the rightside at the back for filling the most downwards axel with atf oil, but there is no flow inwards.. ? Even tried with my compressed air gun... but no movement..
Think i've got to unbolt the robot from the floorplate and look underneath the foot, but still there should be at lease some flow..
I've lubed the ball spindel, lightly
I've also been thinking that maybe the sync does not complete or work properly because my gripper has no compressed air and maybe can not verify if the gripper is open or closed or something.. anyways wanted this to work so order some new 4mm compressed air hoses (6mm outside ) to rewire the broken hoses inside. Want to rebuilt the gripper to make it something so i can let it exchange tools.. Not figured out yet how i'm going to do the 220V power suply towards the powertools it's going to be working with.. Ofcourse i could let it grab its tool automatic and manual plug in the 220V. But i'm more interested in building this full auto. (And it's look good too!!! )
So thats the update with the Physical situation.
The mental situation is as this :
I think i can better take you with me towards the robot.
https://www.youtube.com/watch?v=7Cy7aOe_evI
The power on the 2 modules concerns me.
Any thoughts? -
On the DSQC104 boards @ 141 & 145, you should be able to watch the sync LEDs go on and off as the robot goes past the sync position. Try jogging each axis thru its sync position and watch the LEDs. Woln't be much help if you have to adjust them, I've only adjusted sync switches in an IRB6 twice and that was over 20 years ago. Did more IRB60 and hundreds of IRB90s.
Robot isn't clear in the video, was it previously inverted? Make sure the Sync parameter is set to 0 if it's floor mounted and syncing straight ahead (opposite of the cable entry).
Lubing axis 1 is kind of fuzzy, but I remember the plugs were easy to find. Both 4 & 5 are right next to the casting, drain on the bottom, fill on the top. Syringes like RoboWeld uses are great. If you use a funnel, leave a gap for the air to escape as you fill. The only way to tell if it has the proper amount of ATF is to drain it and fill it with the proper amount. You can change the lube on this little guy for under $5USD, try that on a new robot.
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I've also been thinking that maybe the sync does not complete or work properly because my gripper has no compressed air and maybe can not verify if the gripper is open or closed or something..
The gripper has no effect on the synchronising unless it physically stops axis 4/5 from achieving position.
Have a look at the Irb6 product manual Skooter has put in the manuals section and look at the maintenance section, it shows the lubrication points, capacities and recommended lubricants.
Axis 1 is filled from a plug on the top rear of the main body and the drain is a capped tube accessed by unbolting the umbilical connection plate on the base and reaching inside (you will also feel a tufnol tube hanging down from the motor, this is for adjusting Axis 1 resolver)
Axes 4 & 5 have plugs top and bottom of the Aluminium (Aluminum?) ring between the motor/gearbox and the robot body, drain on the bottom and fill on the top, it takes a while to fill due to the small holes
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