I was editing a job on a NX100 robot when suddenly the arm stopped and some errors popped up(see attachments). I also uploadeda photoof the power supply which has the 24V red led on. Any ideeas as to where the problem might be? I also did around 5 restarts.
Also the sensors attached to the arm are turned off (no power to them)
NX100 alarms: 4109, 1208, 1050 and 1302
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adrianlfc -
October 26, 2017 at 5:47 PM -
Thread is marked as Resolved.
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When you say editing a job, were you jogging the robot around or just pressing buttons on the pendant?
The red 24v light on the CPS indicated that one of the 24Vdc power supplies is being pulled down. Something shorted.
Alarm 4109 is a blown fuse on the NIO board.
Alarm 1302 could be a blown surface mount fuse on the NTU board.
Alarm 4118 if the circuit breaker isn't tripped, then it is a voltage problem.
Basically, everything is point to a short. This matches with you saying there is no power to the sensors. A cable could have been pinched between the robot arm and something else or an axis to another axis.
Replacing the fuse after finding the short, life could be good. It might require replacing the NTU if the smd fuse is blown and you don't want to attempt to change it.
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It was during jogging.
I tried restarting the robot with the cable for external sensors removed and it has the same issue. I checked the cable of the I/O devices on the robot arm and there is no short noted(if it was then i should have been able to find it since the robot is in the same position that it stopped). I managed to remove the 4109 error by connecting an external power supply to the CN12 connector, this also restored power to the sensors on the TCP and everything there responds.
Another check that i made was to power up the robot without the NIO card and the internal fan seems to be working normally like this. I would asume that alarm 1302 is connected to 1208 and after a visual inspection of the NIO card i found this:
Transistor Q19 seems to be blown and there is also a short circuit between 2 of it's pins while on the rest of the transistors around it there is no short circuit on any of the pins. This check was done with all I/O cables disconnected from the NIO board.
The question is weather if replacing the NIO board would be enough to fix this or i need to look for a short circuit within the robot arm?
Edit: I powered up the controller with nothing except the pendant connected to it and there is no chance in the status. -
You have a short, if you were jogging the robot is probably that your short is on the pendant cable or the pendant itself try with other cable. check all fuses, check the breaker behind the main power supply, you have to eliminate the red led ON in the CPS, that also could be damaged.
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Thanks for the hint, i didnt figure to check the pendant cable since the pendant was working and i found it pinched in a spot with visible wire damage...I powered up the controller without the cable and the cps seems fine. Im curious to see tomorrow if there is any extended damage to the NIF because from what i checked the transistor that is blown out belongs to pin B9 from CN08 which is a DO, something i could do without. I'm not sure what im supposed to do because after i was taking out the NIF board i was getting ALARM 0020 CPU COMMUNICATION ERROR [50] along with a E symbol on the NIF card and no flashing led on the COM mark at the Servo unit but this comes back to normal after a few restarts (not sure what exactly makes this error go away).