Hello!
I switched on S3/7 and nothing was changed -- no power in teach mode.
Thank you
Hello!
I switched on S3/7 and nothing was changed -- no power in teach mode.
Thank you
The only other thing left is to prove/disprove the 1GE then......
If you can get hold of the relevant servo software then that should be easy to upload/exchange to prove/disprove the 1GE....
if that doesn't work, then it has to be a harness or wiring fault.
Hello!
I was wrong in previous post.
When we put the 1GE board to the working controller from the suspect machine the following error message appeared:
ERR(-1522) JT8 BRAKE signal disconnected or short
And it could not be deleted, the working robot did not move.
Changed back the 1GE board to the working robot it had to be switched off and on a few times to work again.
Thank you.
Just exchanging the 1GE board between 2 different Arms without downloading correct servo software would usually result in errors and prevent robot motion, so that doesn't surprise me.
- You would need to download new servo software and swap the existing 1GM in order to transfer it to fully test - this is what I am remembering anyway........
I still think this is wiring related.....in not all 'Teach Condition' signals are being input.
Helo kwakisaki,
You sent me the 90206-1019 A8x trouble shooting diagram. I soldered some test wires to the optocouplers on 1DP board, namely on /MONSW2, /MONSW1, /REPEAT, *S19, *S10. I could not find anything abnormal. When I was in TEACH mode and pull the trigger switch the S10 signal changes state so the deadman signal get through I think.
Can you send me a diagram about the correct states of these signals in different working modes?
Thank You!
I am not sure about all correct states of these signals.
- If signals getting through as you say from deadmans, what about Emergency Stop signals and LS signals or even Error displayed on Controller.
- Could you provide a little more information, maybe picture of settings on 1DP and TB2 Terminal?
I know for sure with the succeeded Controller of the AD (C Controller).
- When external emergency stop/safety circuit is open (Not deadmans/ext trigger), when you press motor power, if circuit is broken, then motor power lamp flashes.
- I am not sure if this is same condition on earlier controller though.
Reading through earlier posts, you do refer to the power lamp blinking - does this appear to be what I am describing above.
- If so, then could be LS circuit robot arm is Open Circuit.
- What if you press/hold LS override button, and then deadmans and motor power - do you get motor power now?
Hello,
- Could you provide a little more information, maybe picture of settings on 1DP and TB2 Terminal?
Once I replaced the wires of CN10 connector with shorts thus eliminating TB2 -- no power.
I know for sure with the succeeded Controller of the AD (C Controller).
- When external emergency stop/safety circuit is open (Not deadmans/ext trigger), when you press motor power, if circuit is broken, then motor power lamp flashes.Reading through earlier posts, you do refer to the power lamp blinking - does this appear to be what I am describing above.
Yes.
- If so, then could be LS circuit robot arm is Open Circuit.
- What if you press/hold LS override button, and then deadmans and motor power - do you get motor power now?
We tried it nothing happened -- no power.
If motor power light is flashing, then safety input circuit has break in it.
I’ll I think you will need to look at ALL safety input to controller which means continuity check of all Estop button on op panel, teach pendant, ext if fitted, teach/repeat key, LS line.....all lines should be carrying 24v and 0v if dual channel.
Check all TB2 connection.
Bit strange this fault is.........
Can you check the condition of the attached contacts in Repeat (when running and brakes released) and also in Teach Mode.
These Controllers operate at HV 3phase for Repeat and LV 3phase for Teach (K1 and K2), I am wondering if aux contact could be stuck, or missing.
Hello,
We swapped the CPU/9ZA and servo/1GE cards between the two cabinets -- the spare and the working. The controller had no teach mode with the swapped cards works OK, have teach mode power on now. The other cabinet worked OK so far lost the teach mode.
So I think it is not wiring problem, it is from software.
Examining the backups of the two machines the only difference found in the ZOPTION_6 and ZSPEC1 lines. Is this matter?
In the working CPU:
ZOPTION_6 1 1 1 1 1 1 0 1 1 -1 833
ZSPEC1 0 3 0 0.300030 30 0 0 28220
The CPU without TEACH mode has:
ZOPTION_6 0 0 0 0 0 0 0 0 0 -1 -17
ZSPEC1 0 3 0 0.300000 30 0 0 28016
Thank you!
Glad to hear you're still persevering with this.
I'm surprised at your results (reviewing the thread) and yes it does seem to point to software.
I don't know what specific settings are for ZOPTION_6, but if that's the only difference, copy over the working values and see if it rectifies it.
Create a file offline and load it in:
.ROBOTDATA
ZOPTION_6 1 1 1 1 1 1 0 1 1 -1 833
ZSPEC1 0 3 0 0.300030 30 0 0 28220
.END
If it works, then it maybe that the ZOPTION also has a connection to the dip switches regarding US/AUS Specification usage for Manual motion (which I know have slightly difference procedures/order of operation).
Worth a shot as you've taken it this far.....