Hy everybody,
I have a VRS1 robot. It was out of use for a year. Yesterday we tried to start it again but we have a lot of problems.
- First: we couldn't start the system so we changed the CPU- and RAM board battery.
- Second: then system startup we got a failure message " K46 amplifier problem". We have spare parts so changed the every SEF servo driver card step by step. When we changed axis 4 driver card we could start the system without failure message.
- Third: we tried to calibrate/standardise/normalize the robot axis. We normalized with EMT the axis 1,2,3,4 without problem but when we tried axis 5 or 6 we got a failure message: "joint 5/6 position error!" and the servo contactor switched off. After I can switch the servo on and I can move axis 1,2,3,4 but when I tried to move axis 5 or 6 servo contactor switched off and I get position error message.
I thing what can be iteresting. In the controller cabinet on every servo card the Power ON and Speed enable LED lightning expect on axis 5 and 6 card (attached picture)!? Maybe this is why I can't move axis 5 and 6. When I switch of the servo on contactor every stand by LED lightning. (Axis 5 and 6 too)
I don,t know how can I continue to find the problem, Please help.