Could you tell me what do these parameters mean? (DC1 , DC2 ...)
And this is a new error after "cracking".
Thank you!
3 axis Cracking
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PaulSola -
July 22, 2017 at 1:34 PM -
Thread is marked as Resolved.
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Can i change the language on irb 2400(s4)?
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Hi. Yesterday i tryied to create a new program on my irb2400 (s4)...Is this an S4 (tall) controller, or is it an S4C (compact)?
My S4 (IRB 6400 M96) has separate amp cards for each axis.
On the other hand, my IRB2400L M98 (S4C?) has a rectifier and two drive modules
Perhaps a picture of the cabinet (with the door open) would help determine vintage?
Could you tell me what do these parameters mean? (DC1 , DC2 ...)
...That would be asking about the (DC?) power supply.
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I am sorry, but I do not 100% sure that it is S4
But when i start to load the soft the massage appears : Welcome to the S4 Conntroller -
On what does the choice depend? (Power supply:DC1, DC2....)
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Отправлено с моего iPhone используя Tapatalk
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That looks more like my S4C controller.
Check the part number on the leftmost module. That is the rectifier unit. A quick check online reveals:
3HAB8101-1 (DSQC 345A) =DC0
3HAB8101-2 (DSQC 345B) =DC1
3HAB8101-3 (DSQC 345C) =DC2
3HAB8101-4 (DSQC 345D) =DC3
3HAB8101-14 (DSQC 345E) =DC4I haven't found DC2T or DC2C yet.
Yours appears to be the 8101-2 (DC1?) -
Thank you for your reply.
I think the problem is the power supply to the motors as you expected(or something is wrong with the wiring).
Just because it cracks even when I move any axis.
But the error appears : 3 axis error .
And my question is : When I move any axis, does the power supply to all others?And who has any manuals or schemes about electric part of robot. (Something about power supply to the robot and its axis)
Thanks.
Also I will post a picture of the error of 3 axis.Отправлено с моего iPhone используя Tapatalk
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Though it probably won't help, I'd power down the controller and re-connect all the drive/rectifier connectors.
Next, I'd try unplugging motor #3 (powered down, of course). Having no motor attached might generate a different error.
Then...
As a zero cost exercise, I would put the arm into the calibration position and support the upper arm. Drain the oil from axis 3 and check for metal contamination (would indicate mechanical damage) then remove the motor (engine) so you can look inside the gearbox for damage. While the motor is off you can run axis 3 only (use joint mode) which should prove if it's a servo/amp/control/wiring etc. issue or if it runs OK start looking for a mechanical problem in the drivetrain/gearbox.Which rectifier unit did you select during the OS reload?
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Ok, thanks
I selected DC1
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Tell me please, are there any contactors between DC-link and motors on robot?
Maybe they are worn out and that is the cause of my problem. -
@ Iowan:
3HAB8101-10 (DSQC358C) = DC2T
3HAB8101-12 (DSQC358E) = DC2C
3HAB8101-15 (DSQC358F) = DC4C
3HAB8101-16 (DSQC358G) = DC4UPaulSola
There is no contactors after the DC-Link.
Is this now happening whenever you try to move the robot or in a specific spot?
Posted the circuit diagrams for the IRB2400 M98 in the manuals section if you are electrically inclined. -
I just move any axis to any direction and it cracks.
And Thank you for manuals and schemes !!! I have found them from you! -
I would like to share some information about the robot for this all the time.
In the first, everything became worse.
Earlier I could work with this after restarting the system (after cracking), now every time I move the 3 axis, the system cracks.
And when power is supplied to the servo motors, very strange sounds are heard from the motor. (video : https://drive.google.com/open?id=0B0uf7…Zm4xdFhhTkFpY1U)
Now I feel a very strong vibration on the lever of the third axis.
What can create this sound and vibration?
Maybe, the engine is out of order, but I do not smell the burning.
The resistance on all windings is the same: 3.4 Ohm -
Not sure if this has progressed. It is suggested to obtain, if you do not have them already, control circuit diagrams and use a meg-ohmeter to check your motor circuit pathways.
You will need to remove the Molex motor lead lead connector from the drive units, clip the negative to bare metal in the control and clip the positive to each winding in succession.
Readings typically should be way above 100 Meg ohms. Anything less needs further investigation.
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Hi.
I would check for any mechanical damage. I think that user RoboWeld already suggested that. Make sure there is no metal parts in the oil, that could come between gears.
Kind regards
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Hello again!
The problem with the cracking of the 3d axis appeared again!
I took apart the 3d axis motor. I am 99% sure that it is ok!
The stop is ok either.
All the connection are ok. The resistance of windings also ok 3ohm each.
The problem is in Drive unit of 3d axis
What should i check in it?
Thank you! -
Hard to say what came first - that motion fault could be generated when the arm drops. The internal drive fault message might be a clue. I Don't remember if the drive module for axis 3 is the same as another - if so, you might swap drive modules to see if the problem remains with the axis or moves with the module.What did you mean?
Should i change drive modules using Teach Pendant?
I have already tried to swap drive modules but the system said that it will not start due to Drive Units are not in their places.
Thank you! -
Hi
I had a problem with axis 5 on a robot awhile ago i had several diffrent errors that pointed on voltage and similiar errors you have
we dident find any problems at all with the motor,brake,cables or anything with the rectifier or drive units etc.Checked everything over and over again, it turned out to be a faulty power supply bar, the black bar that connects the rectifier with the drive units.
Not sure this will help but i throw it out there since it is easy to check. -