Start out by stating that I program and fix the robots, electrical troubleshooting is done by the electrical engineers, and they are having a problem, my issue is that I'm getting a srvo-023 fault on a:2, we put a different robot in because the wire harness on last one was ripped and put back together, that robot was giving a srvo-023 on a:4 was also giving impos time over on a:5, this robot gives srvo-023 on a:2 and the impos time over is still on a:5, it's getting annoying because I have to reset the line everytime it goes down, I'm thinking servo amp, but don't know about how to check it, thanks for any help
Srvo-023 stop error excess (g:1 a:2)
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Dsmwarrior -
December 14, 2020 at 5:33 PM -
Thread is Unresolved
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Getting these errors after changing the robot seems to indicate the servo amp.
Before changing the amp, verify the 3-ph power going to the servo amp after the MCC pulls in. The voltage on all 3 phases should measure approximately the same.
You didn't state which robot and controller you're working with.
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Sorry, working with 420i with rj2 controller
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Also verify the robot-to-controller cables for damage.
Can you verify if the brakes are working?
Even if it doesn't fix the problem, swapping in a known good servo amp will remove several probable causes.
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Axis 2 drops when it faults, have checked cables from robot to cabinet, the last robot had a spliced internal wire harness that they put back together at some point to get it back running, but I can't say how long before the issue arose they "fixed" the wire, but as far as testing the brakes, I haven't done that, not sure if I know how to, I'm fairly new with robots, I've been working with them for about 2.5 years, and haven't done any certifications yet, so haven't gotten real in depth, I've been learning as I go, and I've told the electricians to check the amp, but they keep swearing it is a motor or wire harness, probably to pass the buck off on machine repair, I might have to bring in a multimeter to check the amp myself, just gotta find the book with the diagrams so I know what to test, don't know what everything is in the cabinet, this is beyond my job description, but I'm tired of dealing with the fault every day whenever the robot sits idle for about 30 seconds, and that happens with inconsistent loaders, which we have a few, plus I like learning, which is why I've went from forklift driver to one of the head techs, but I deal more with the programming and building the tooling side of things
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If axis J2 motor is dropping when the brakes engage, then it is a very high probability it's the motor. With axis J2 away from anything that it may drop on and extended out somewhat, try jogging axis J2 slightly, wait about 5 seconds and then release the deadman. If it drops, then the J2 brake is slipping - replace the motor. If it already has a gear on it, verify the number of teeth on the gear as J2 and J3 motors are the same part # but there is a 1 tooth difference in the gears.
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Yes, j2 drops when I let off deadman, would that also correlate to the impos time over that I get/ got on j5 on both robots?
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If J5 does the same, yes.
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Yes, old robot had stop error on j4 and impos time over on j5, this robot has stop error on j2 and impos time over on j5, j4 dropped on old robot when I released deadman and j2 drops on this robot when I release the deadman
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Having issues on 3 axes similar to the old robot makes a person think. If I had a known good servo amp, I would change it first just to make sure. It may be the amp and a bad brake(s).
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That's where I was leaning, axis 5 stayed the same and axis 4 jumped to axis 2, now to just get the electricians to test it or bring in a multimeter, I'll update when I learn something
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It was a situation that happened to me in many of my RJ2 robots. First, you need to make sure that your robot is working normally and that your cables are intact. It can also be an engine problem, of course, this is a separate situation. I still want to describe something different, thinking that your robot and cables are intact. When you open the Robot cabinet, remove the large green electronic card you see at the front. On this card, you will see resistors with a white watt value of 3-5 watts, which electronicists call Stone resistors. Their solders have certainly become cold solder. You need to renew them. The task of these resistors is to control the level of voltages coming from the main transformer located in the right rear part of the Cabinet. An average AC voltage of 80-100V comes to the bottom servo drive card in the Robot standby state. And when you press the mandala and make the servo on, 200V AC comes. You can check it while working through the inputs of the card at the bottom. If the top card cannot interpret correctly, this voltage is cut off in the robot standby state and the axis drops as if the engine brake is malfunctioning. On the servo drive card located under this card, you will see 6 "SIF module" cards like the computer "RAM", their solders are definitely outdated and need to be renewed. It becomes difficult to replace the bottom servo drive, and it becomes even more difficult to find and replace the robust surface-cooled MOSFETs at the bottom. Believe me, before I deal with the robot's engine or brakes, I check and maintain these cards that I write. In this way, I started to restart many of my robots, whose engine or motor cable seemed to be defective...
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That sounds like a good place to start, none of the equipment was very well maintained before I got here, and everything is used from the robot junkyard they have accumulated over the years, I can almost guarantee none of the cards have been maintained, or anything else in the cabinets for that matter, wires are in good condition with 1 being new, can't remember which one off hand, I think rm1 but not positive, when something causes an issue, they just start replacing stuff, I like to be able to troubleshoot before just replacing things, and the more I learn, the easier my job becomes!
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And thanks to everyone for the tips and suggestions!