For some reason, error 4007 is located after 4020 at pages 1-47 & 1-48 in my manual. The 004 subcode should be axis J2.
Each motor has a thermal switch that is monitored at the Axis Control Board. The manual shows the J1-J3 thermals in series to CF91 and J4-J6 thermals to CF94. You can check resistance at the CF9x connectors, reseating them may help. If all measures good, try swapping out the Axis Control Board.
In the R-J and newer, the pulsecoder on each motor monitors the motor thermal switch.
Was the resistance measured between pins 8 (OH1A) & 9 (OH2A) on each of the CF9x connectors? If you have a like robot, the resistances should be the same for each robot.
To satisfy my curiosity, what was the resistance values you were reading?
The thermal switches in the motors will be less than 1 ohm plus whatever the cabling adds - my guess would be less than 25 ohms total.
Like the dummy I am, I must not have had the motor disconnected from the control when I checked resistance through the switch because today when I checked again I got something crazy, like 187 ohms! Needless to say, I am now waiting on a call back to verify that my supplier does indeed have one of these motors on the shelf ready to buy. If not, I guess I can always eBay it. Pretty cheap at less than $400...
I haven't even gotten to the fun part, yet... re-mastering the old robot. I took a test run of connecting my laptop via null modem cable and terminal emulator software the other day. Connection went surprisingly smooth, but it has been quite a few years since I actually had to do anything with this robot. We shall see.
OK, motor replaced, jogging like a champ, but as expected, mastering has been a nightmare. Maybe someone can help. Again, it is an RH controller, Karel 2.23.So, I follow the mastering procedure in the manual, and I've calibrated, both at the zero position(s) and 'near' my home position. I tried calibrating near home due to the advice from an old thread on this forum.
Either way, I get the same results. The axes jog correctly in joint mode. No surprises there. But if I jog in world, or any other coordinate system for that matter, the axes are all screwy. Z is sort of close to where X should be, but + runs slightly uphill and to the right rather than moving the TCP vertically. X and Y are just as screwy.
If I try to run the HOME program, the robot faults out due to over travel on axis 2, and the posture is nothing like it should be. I am at a complete loss here. If anyone has a suggestion, I would love to hear it. Is there a file I need to save after mastering or something? After calibration? This is driving me crazy!
I've always zero position mastered with all axes at their zero position marks and then calibrated. For zero position, make sure J4 has the wrist on the robot's left side and the J6 flange is pointing forward and not down. The manual should show the correct zero position pose.
