With the age of this robot it's either the internal harness, the encoder on the motor (and no you can't replace just the encoder on an ERC) or the servo pack.
The internal harness Doc is talking about is the harness inside the robot. The harness from the base of the robot to each motor and encoder.
Swapping the front boards on these servo packs does nothing. You need a good working servo pack (with the correct communication boards on top) to replace the shit you have.
Really, push it off the dock into the scrap bin an buy something from this century.
Make sure the 1BC anaconda cable between the robot and controller is not damaged, seen many crushed flat from being walked on. Also try reseating the1BC connector at the base of the robot.
Does one of the servo amps give an error on the 7-segmant LED display? If not, try to determine which of the SLU axes is the issue by looking at the servo display under 'Display' > 'Diag'
As Robodoc stated, the entire servo amp would have to be replaced as the low voltage power supply resides on the lower section if I remember correctly.
This could be tough to narrow down if you don't have any known good spares. Most places have cleared out their old ERC stuff.
Find ERC Error List >HERE<
My pdf version of the 479951-2CD rev2 has 674 pages and is a combination of several manuals.
It does seem like Motoman has purged many old manuals including the ERC vintage from the Product Documentation page.
Let me know if it's different than yours and I will upload it to the manuals section.
Uploaded some manuals.
Moving the position may help. The encoder may be getting hard to read at that spot or more likely the axis brake is weak allowing movement after power down.
Possible to clean an encoder?
That is a job for professionals with specialized knowledge and tools with magnifiers in a semi-clean room environment. If it's dirty, it usually needs bearings, seals, etc.
I think i figured out how to release the brakes. I was able to move the U axis, but not the L.
Any tricks to get it to release? The bolts are barely long enough to reach in and start threading. Would a longer bolt be OK, or would it matter?
Thx.
Marty
The only way I know how to release the brakes is electrically. Not sure what bolts are for.
PLEASE NOTE: Releasing brakes is dangerous. Please make sure to think it thru and use something secure to limit axis motion if you must release them.
You have to build a 90 volt DC power supply with a momentary push button on the 90 volt side. Remove the brake wires from the controller and connect your 90 volt power supply. Press the button and release the brake.
