Please describe what you mean when you say:
When i swap the the kabel between 1ge and servoboard 4 and servo board 5
Please describe what you mean when you say:
When i swap the the kabel between 1ge and servoboard 4 and servo board 5
I swapped those 2 kabels. Then the problem Goes from jt4 to jt5
Ok.....give me 10 mins to have a think what you could do next.
For this cable to just fail whilst connected and running ok......really is strange occurrence......and I cannot see how this would happen.
Your Power Block arrangement is this type isn't it?
Yes correct.
Ok, cable is not problem, you are introducing problem yourself by swapping that cable.
I think your IGBT is failed.
Do you want to 100% prove this, there is a lot of work to do, just to prove this?
I powered the robot off and after that it wont work. The earth leakage circuit breaker switched off to today and yesterday. So maybe there is something more?
But i swapped encoders too when i swapped the cables. So you still think igbt? Because the other motor was working fine after slapping the cables
Robot Controller should not be connected via earth leakage, as there is always earth leakage, can be >100mA.
Usually always connected direct to earth.
Did you also swap motor power?
Yes the first time i did but then the problem moved too. I tried also the servo boards to swapped but then the problem stayed to the same motor.
I am too confused now as you have been swapping things I have not requested and feel you are not following my instructions.
I can only offer one final check, but you must follow EXACTLY as I say and not do your own thing.
I understand that so let start over.
Ok, make sure all connections are back to how they were and put JT4 motor back in place on arm and fix in place.
What I want you to do is see attached drawings.
On Power Block exchange UVW wires (these are wires that go to motor on arm) between ONLY JT4 and JT5 as circled - NOTHING ELSE.
(capture.jpg image)
Then go to Robot and remove panel to access 1FG board and swap CN4 and CN5 connections over (these are encoder signals).
(capture2.jpg)
This will then mean that:
1. If you try and move JT4 using teach pendant, then JT5 should operate
2. If you try and move JT5 using teach pendant, then JT4 should operate
I believe then you will see JT4 Motor spin ok and JT5 have same problem - so problem moved.
This tells me JT4 IGBT on Power Block A is Faulty.
Does this make sense before you try it?
Yes this make sense. I tested this before. But i Will do it exactly your way today. I Will let you know what the results are.
Ok i place everything back. I got this error -1417 p-n of jt 4 overcurrent. I didnt do anything of your changes yet. Should i do it now?
Perfect......no need to change anything now...………….Your IGBT is stuffed...……….
Yes is it broken?
If you can guarantee all off your connections are correctly in place:
- Motor back.
- Cables back to how they were - and plugged in.
- DT boards back to the correct positions and plugged in.
Either one of the gates is false triggering inside the IGBT, C to E Short circuit or a freewheeling diode has gone short circuit inside the IGBT.
I think if you disconnected the motor cables now.
Then get DVM on diode check and you check:
- U terminal with respect to P terminal.
- V terminal with respect to P terminal.
- W terminal with respect to P terminal.
- N terminal with respect to U terminal.
- N terminal with respect to V terminal.
- N terminal with respect to W terminal.
One of these will be short circuit if internal IGBT is short circuit - But you need to check without motor connected.