We have an Lr-Mate 200ic with a r-30IA controller. Recently we replaced the servo amplifier board which had gone, not quite sure what caused it but afterwards it ran fine for about 2 weeks. Now when I went to start a job it faulted and said collision detect however it had not hit anything. I moved the robot where I can work on it, I can move axis 1-4 just fine, five moves a bit then faults out and 6 will not move at all. The alarm says that it is on group 1 axis six whether i move 5 or 6 to get the alarm. I've checked incoming voltage which should be 230 however I'm only getting 211. I've checked the current settings and when I move 5 or 6 it exceeds them however I don't want to change them and end up burning up a motor. Any advice or help is appreciated. We need to run this job and currently the robot has been down yesterday and all of today. Please and thank you.
srvo-050
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Crig -
October 24, 2018 at 5:20 PM -
Thread is marked as Resolved.
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The last time we had this sort of issue, it was a fuse or a jumper, do not remember which. Basically, the break was being told to release, but it was not releasing. Jogging the joint then had a huge amount of resistance and faulted it out. Someone had yanked a small piece to patch a different robot and did not tell anyone. Double check all of your jumpers and fuses, as well as cables going to those two motors for any damage or bad connections.
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The last time we had this sort of issue, it was a fuse or a jumper, do not remember which. Basically, the break was being told to release, but it was not releasing. Jogging the joint then had a huge amount of resistance and faulted it out. Someone had yanked a small piece to patch a different robot and did not tell anyone. Double check all of your jumpers and fuses, as well as cables going to those two motors for any damage or bad connections.I will give it a look, thank you.
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I checked the fuses and they were all good an no jumpers have been removed. Is there a way that I can release the brake on my own, possibly by jumping something out or unplugging something?
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Not really, to the best of my knowledge. The brakes default to the safe (stopped/fully engaged) state when power is removed, so removing power would not release them, and the manual brake release option inside the teach pendant would also probably be unable to get the release signal through. Also be super careful if you DO release the brakes, if they do not have servo power they may move unexpectedly due to gravity.
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It sounds like the brake is not releasing on 6. The brake circuit is paired, 5 and 6. Unfortunately you will need to remove the motor to test the brake. I suggest you remove it, unscrew the brake connector, it has 2 wires and is located farthest from the pulse coder. Put the robot in teach and have someone jog axis one for a moment and then unplug and plug back in the brake connector on axis 6 motor. You should here a distinct click. At that point you can replace the motor, which is probably what is wrong, or verify you have the 90 volts DC required then replace it.
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I'd try what RacerMike123 said first as that sounds like what your issue is. But if it doesn't work I have some ideas mind you i'm probably not as experienced as some of these guys.
If you check your alarm history do you have any other alarms showing up that give some clues? We had a motor lock up and was giving us a few alarms before blowing the brake fuse. Pulled the power cable off the servo amp and tested resistance between pins U and V, V and W, and W and U you should have very little resistance here and if any of the combinations show a different reading (like perhaps Over Load like ours did) then you know your problem could be in the cable or the servo itself. Maybe check the cables to those servos as well as the cable grounds in the cabinet.
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I'd try what RacerMike123 said first as that sounds like what your issue is. But if it doesn't work I have some ideas mind you i'm probably not as experienced as some of these guys.If you check your alarm history do you have any other alarms showing up that give some clues? We had a motor lock up and was giving us a few alarms before blowing the brake fuse. Pulled the power cable off the servo amp and tested resistance between pins U and V, V and W, and W and U you should have very little resistance here and if any of the combinations show a different reading (like perhaps Over Load like ours did) then you know your problem could be in the cable or the servo itself. Maybe check the cables to those servos as well as the cable grounds in the cabinet.
Most of the time the only alarm I get is a srvo-050 collision alarm, however i did get an OVC alarm one time but only once and it hasn't happened since and occasionally I'll get a door open/e-stop alarm.
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It sounds like the brake is not releasing on 6. The brake circuit is paired, 5 and 6. Unfortunately you will need to remove the motor to test the brake. I suggest you remove it, unscrew the brake connector, it has 2 wires and is located farthest from the pulse coder. Put the robot in teach and have someone jog axis one for a moment and then unplug and plug back in the brake connector on axis 6 motor. You should here a distinct click. At that point you can replace the motor, which is probably what is wrong, or verify you have the 90 volts DC required then replace it.Is it 90 amps? I read that it was at least 50. I found on the servo amp board where i can measure the voltage that releases the brakes and the most i get is 60 volts DC
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It is a modified square wave. It should read 90 volts DC. I am not sure about the current. The click will tell you if it's working or not.
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It sounds like the brake is not releasing on 6. The brake circuit is paired, 5 and 6. Unfortunately you will need to remove the motor to test the brake. I suggest you remove it, unscrew the brake connector, it has 2 wires and is located farthest from the pulse coder. Put the robot in teach and have someone jog axis one for a moment and then unplug and plug back in the brake connector on axis 6 motor. You should here a distinct click. At that point you can replace the motor, which is probably what is wrong, or verify you have the 90 volts DC required then replace it.We figured out there was a break in one of the wires going to the motor on J6, we will have a new wiring harness in here soon, is there any thing I need to be aware of when putting it in or any advice in general?
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I would put the robot in the zero position before you take it apart. The LR Mate is small enough to remove and take to the maintenance shop. Makes it easier to work on. Take pictures and use lots of tie wraps!