Hi guys,
I am trying to fix a Motoman DX100 controller with HP20 manipulator.
Currently the error message is "Alarm 1306 - Amplifier type mismatch, L axis".
A little background story.
This DX100 controller was fully functional ~2 years ago but was stored poorly and now has extensive moisture damage. I am trying to bring it back to life.
Because of damage, I have had to replace multiple boards, including CPU and EAXA.
This Alarm 1306 is the final alarm I have left to fix now.
The alarm list tells me to check Reference parameter: after SVPxG232
Unfortunately I do not know where could I see that. Could anyone please tell me.
Also other info from my troubleshooting:
I know that this alarm is because of wrong reply from the amplifier. Communication to L axis is from between EAXA port CN502. If I disconnect cable from CN502 and start the controller, I get 3 error messages, so I believe that EAXA is ok. Also it is difficult to believe that something has happened with the amplifier.
For this Servopack, the L axis amplifier is SRDA-SDA21A01A-E
I noticed that many configurations have SRDA-SDA14A01A-E for L axis, so wrong setting somewhere seems likely to me.
I have tried loading old CMOS.BIN file but that did not fix the problem. (Also tried reading CMOS.BIN from identical and working system but still no luck.)
Robot Version Information from the robot with error message:
SYSTEM: DS1.57.04A(US/DE)-00
PARAMETER: 2.29
MODEL: HP0020D-D0*
APPLI: GENERAL
LANGUAGE: 1.57-00-00/1.57-00-00
CPU SYSTEM ROM BOOT ROM
YCP01-E 1.57.04 ---------------- D1.30
YPP01 2.01-00 1.10-00 1.02
EAXA*#0 1.56-00 2.01 2.11-00/2.11-00
Robot Version Information from a working robot:
SYSTEM: DS1.57.04A(US/DE)-00
PARAMETER: 2.29
MODEL: HP0020D-D0*
APPLI: GENERAL
LANGUAGE: 1.57-00-00/1.57-00-00
CPU SYSTEM ROM BOOT ROM
YCP01-E 1.57.04 ---------------- D1.30
YPP01 1.53-00 1.10-00 1.02
EAXA*#0 1.56-00 2.01 1.04-00/1.04-00
Does anyone know why EAXA has different version number, because as far as i know, EAXA does not store any software/settings on it (and does it have to be the same).
Thanks for your time