We have a Nachi robot that doesn't get used very often, but I know it was working. Recently the robot was moved and found out that the battery for the memory died and lost programming, the battery has been replaced. Now when I try to move the robot manually I pull in the deadman swtich and hear the brakes disengage. Then I will get the W1010 - Robot did not execute Original Position return, or when I try to use playback mode I get E0121 - Software motion range exceeded ( S axis ). I've seen another thread on this website that recommends resetting the encoders and doing encoder correction, but I am unable to move the robot at all no matter what I do. Does anyone have an idea about why the robot will not move?
Nachi AW SF166-02 robot W1010 E0121
- jholtgrieve
- Thread is Unresolved
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Robot does not move because of the error.To get rid of error need to "Reset Encoder" and do "Encoder Correction"
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I must not be doing this correctly. I reset the encoders, turn the controller off, turn it on again. Then I go to Constants/Machine Constants/Encoder Correction and set each axis to 0, but still no movement from the robot.
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error message required mate
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