Hello to everyone,
This morning, after power loss in our facility, we turned on everything and after some 10-15 minutes, one of our robots stopped working and we got next messages:
106 Perform mastering A1
106 Perform mastering A2
106 Perform mastering A3
106 Perform mastering A4
106 Perform mastering A5
106 Perform mastering A6
102 Encoder cable failure A1
102 Encoder cable failure A2
102 Encoder cable failure A3
102 Encoder cable failure A4
102 Encoder cable failure A5
102 Encoder cable failure A6
In manual I found this description of 102 error message:
102 Message text ENCODER CABLE FAILURE **
Cause -- Cable defective (e.g. loose connection).
-- RDW defective.
-- Encoder defective.
Monitor -- Cyclic.
Effect -- Maximum braking (dynamic braking).
-- Low signal at “$ALARM_STOP” output.
-- All active commands inhibited.
Remedy -- Check encoder cable.
-- Check motor, resolver.
-- Possibly replace RDW
We changed RDC card and connecting cable X21-X31 but we have same error message. Also we changed connector on X31 side, where cable X21-X31 is pluged in, but without success.
I hope everything is understandable. Thank you in advance!