Hello all,
My question is, can I swap out controllers on a M-6i robot? From R-J2 to R-j3 controller? The RJ2 controller is shot, what issues will I have if I connect a RJ3 controller to the robot?
Any help would be appreciated.
Thank you
swapping controllers from rj2 to rj3
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matt61 -
August 8, 2017 at 5:23 PM -
Thread is marked as Resolved.
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Spec # is the same whether it's R-J2 or R-J3 so the controller will work.
Hope you have the R-J3 ArcMate100i/M6i software with the right options you need. -
No you can't. The motors are different. I believe Fanuc moved the MOV's from the motors on RJ2 to the inside of the robot on RJ3
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Ouch. Pretty sure we did this about 14-15 years ago. Manipulator part # A05B-1210-B602 or -B202 is valid for both R-J2 & R-J3. My assumption was if the manipulator has the same part # then it has the same parts. The parts manuals I have show them to be the same, even the pain-in-the-butt MOV's. I also remember running off R-J2 ArcMate 120 manipulator on an R-J controller while waiting for a surplus R-J2 servo amp, both those manipulators had the same part number too. Surplus parts were harder to come by before eBay and new from Fanuc ate up all the profit. All the P-100s we rebuilt for GM were run off on an R-J without modification and many of those were R-J2.
Based on my experience and the information in the manuals I have, I still think it will work as long as the software is there.
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<OffTop_mode>
what is a MOV?
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<OffTop_mode>
what is a MOV?
</OffTop_mode>Technically, Metal Oxide Varistor.
Kinda/sorta like opposite-facing Zener diodes. It conducts when rated voltage is exceeded.
Usually looks like a disk capacitor - used for noise suppression. -
According to the manuals I have, the RJ2 M16 has different motors than the RJ3 M16.
RJ2
Axis 1 A06B-0371-B175
Axis 2 A06B-0373-B175RJ3
Axis 1 A06B-0163-B175
Axis 2 A06B-0163-B175The axis 3-6 motors are the same.
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A long time ago, one of the MOV manufactures branded theirs as 'Transorbs' which was a mashup for transient absorber. Fanuc lists them as 's.absorber' in the manuals, OEM Fuji Electric calls theirs absorbers. Fanuc used them to protect against voltage spikes generated from the collapsing field of the brake coil. Because they also use 200V in series across 2 brakes (for 100V each), if 1 brake shorts, the entire 200V drops across 1 brake and overloads the 'absorber'. A bad 'absorber' usually means a brake or brake wiring issue on the other axis thats in series. Big pain if it's intermittent.
In my R-J2 M-16i parts manual:
J1, J2 motors > A06B-0163-B175, aM9/3000
J3 motor > A06B-0371-B175, a1/3000
J4 motor > A06B-0373-B175, a2/3000
J5, J6 motors > A06B-0113-B175#0008, b0.5/3000 -
If that is the case then check the motor part numbers on your RJ2 mechanical unit. If they match the numbers for the RJ3 I would say it will work then.
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Additionally, When swap the controllers, keep the robot-controller cables with their controller.