Error 1553

    Assuming you're not losing positional data (joint angles) - Rules out battery issue.
    - Then there appears to be a complete disconnection to ALL encoders.

    I would check the following:
    1. Umbilical between Controller and Arm Connections (X3 and X3A usually carry all encoder signals).
    2. Measure +12V output on 1GA/1HA test pins and if lower, adjust +12V potentiometer on AVR to increase to +12V.
    3. This +12V is sent from Controller to 1FG interface board in rear of robot and on 1FG board, regulated to +5V to power all encoders - This would be my bet 1FG Board failure, the electrolytic capacitor on there may be bulging/dried out due to age or regulator circuit is damaged.
    4. Measure on actual Encoder connection for +5V.....(be careful though, if you disconnect it, then no power from battery, so you may lose zero information, so try and use small meter probes to measure in circuit).
    5. Check internal encoder connections to 1GB board on CN2.

    Assuming all connections are ok, you have AVR low volts/power fluctuation/failure, 1FG failure or 1GB failure I think.
    - Either module if you have spares are simply swap with no software load etc......

    Hope this helps..........

    It looks like the AVR +12 voltage is good.

    I am leaning towards the 1FG board as well. From looking at the manual it looks like they are test points on the 1FG board. But it looks like I have to un-connect the robot cables and remove the "robot cable connection panel" to access the 1FG board on the base of the robot.

    Any ideas on how to trouble shoot without going through all of that hassle?

    Edit: It looks like I might be able to get to the test points by removing the battery (leaving it connected). I'm thinking the culprit might be a loss in voltage on the +5 VDC supply?

    Edited once, last by Lantz (July 20, 2017 at 7:52 PM).

    Sounds more than likely 1FG for sure.
    The 12V+ is regulated to 5V+ for Encoder supply on the 1FG, so if the regulator circuit is intermittent (bad 12V connection to the 1FG or failing component)...bingo

    The 1FG is actually attached to the rear of the back plate, so the only hassle I think is the hex bolts (but depends if you have other peripherals mounted around the rear and accessibility).
    - So power off, remove the back plate (you can leave the umbilicals connected) and you'll see there's just enough 'slack' for you to pull/lean the back plate to access the 1FG and test points.....then you can power up and measure.
    - Give it a 'visual' glance over first and see if that capacitor is showing signs of bulging/burst through the top.
    - If that's the case, I have successfully just replaced the capacitor and got it going again without the need of another 1FG - but if you have a spare 1FG handy, it's a 10 min job to swap over and maybe you can bench repair the damaged one.

    Good luck...... :top:

    Well I cleaned up my robot then I set everything up to test the 1FG board... and nothing, its running fine, no error.

    The only thing I can figure is I had an air vent shorting out one of the encoder wires, so once it was removed (after I cleaned the robot), all is good?

    Time will tell....

    ???
    I really hate those types of problems......disturbing/cleaning and suddenly the error clears....never really gives you a definitive problem/solution.....but in hindsight, sits in the 'checking connection integrity' arena.
    - Like you say, time will tell...............if it ain't broke, the only thing you can do is ponder........ :hmmm:
    - Sounds promising though if the vent was pulling the +5V low (as it is a common rail)....... :top:

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