First run problems IRB 2400/10 with S4C+ M2000

    Hi all,

    i bought IRB2400/10 arm with S4c+ M2000 controller which was not powered about 1 year and i try to run it but i have couple problems. The controller unit was connected to external axis and probably this is reason of main problems beacause now can't find external equipment. Can someone here know how to temporarily disable external axis?

    Also have problem probably with SMB battery beacause error log sounds: "Error 38001 Battery Backup on SMB1 on measurement syste1 at connector_board 1 lost since last power down or restart. Battery temporary disconnected at delivery " and "20175 teachpendant lost contact. This will force Safety guard stop".


    Someone can help me?


    More photos: https://drive.google.com/drive…hyLZlU6AX4FUu?usp=sharing


    BR,

    Tom

    Battery errors are not a concern at this point. The 33417 error should be the first one to tackle.

    The SMB in the cabinet is for external axes. Where does the other end of the cable that plugs into SMB connector R2.SMB go to?

    Please look at the S4C+ External Axis Manual found >here< and see if you can get more familiar with your setup.

    Do you have a backup? There is a lot of info in a backup that gives more insight into the setup that is now missing.

    Adding a picture of the amplifiers in the controller may also help. If you can read the DSQC numbers or the 3HAB numbers on the amps, that will work too.

    Quote from Skooter

    The 33417 error should be the first one to tackle.

    The SMB in the cabinet is for external axes. Where does the other end of the cable that plugs into SMB connector R2.SMB go to?

    33417 error code disappeared and i don't see it after couple restart cycles. Now is "33506 Axis computer cmd error - Timeout when sending or receiving motion command to axis computer connected to connector board 2" Photo of cabling in attachment - slot R2.SMB from DSQC313 goes to DSQC513 slot x4 Measurement System1.

    Error 33417 https://drive.google.com/drive…UCaXh7Xg7lJ0oiw-Yf_vDk-aZ


    Quote from Skooter

    Do you have a backup? There is a lot of info in a backup that gives more insight into the setup that is now missing.

    I think yes on floppy disk is all but floppy drive will be have in friday :loudly_crying_face:

    Floppy Drives https://drive.google.com/drive…XAfTPbhZY0wGT3wM2UmuDhHsS


    Quote from Skooter

    Adding a picture of the amplifiers in the controller may also help. If you can read the DSQC numbers or the 3HAB numbers on the amps, that will work too.

    Hardware config:

    Rectifier DSQC345C 3HAB8101-3/09A

    Drive1 DSQC346G 3HAB8101-8/14C

    Drive2 DSQC346C 3HAB8101-7/11A

    Drive3 DSQC346C 3HAB8101-11/07A


    Rectifier & Drives https://drive.google.com/drive…WdXfVUzL9y2G9e-HtQTXcQxt5



    ALL Photos in https://drive.google.com/drive…ZbC4pelu2177hyLZlU6AX4FUu


    thank for your effort!

    additional info1: SMB battery voltage inside manipulator is about 8.9V. The battery consists of 6 cells and an orange 2 PIN connector. Replace in 2021.

    additional info2: someone probably cut the wires from the dsqc 509 board x1,x2,x3,x4 slots.

    8.9V is weird. That should be a NiCad pack around 7.2V when charged, part # 4944026-2.


    M2000 Panel Unit jumpers for the run-chain should be:

    X1: 3-4-5, 7-8, 9-10, 11-12

    X2: 3-4-5, 7-8, 9-10, 11-12

    X3: 3-4, 7-8-9, 10-11-12

    X4: 3-4, 7-8-9, 10-11-12

    Quote from crazyferajna

    Hardware config:

    Rectifier DSQC345C 3HAB8101-3/09A

    Drive1 DSQC346G 3HAB8101-8/14C

    Drive2 DSQC346C 3HAB8101-7/11A

    Drive3 DSQC346E 3HAB8101-11/07A

    Corrected Drive 3 above to DSQC346E


    DSQC346C & DSQC346E run the robot, they each run 3-axes.

    DSQC346G is a 2-axis drive probably setup for 2 external axes.


    Quote from crazyferajna

    33417 error code disappeared and i don't see it after couple restart cycles. Now is "33506 Axis computer cmd error - Timeout when sending or receiving motion command to axis computer connected to connector board 2" Photo of cabling in attachment - slot R2.SMB from DSQC313 goes to DSQC513 slot x4 Measurement System1.

    Where does the cable plugged into the DSDQC513 X2 Axis Computer connection go to?

    Can you take a picture of the top of the computer unit?


    Something is bad i think with SMB in manipulator maybe embedded battery charging system. I measured today voltage and was 9V on connector pins which connect battery with SMB. Additional i hear strange noise like a squeak from inside SMB i'm not sure what element makes a sounds (electrolytic capacitors or switching coil). I disconnected battery plug and after 2 hours the voltage dropped from 8.6V to 8.4V.

    SMB with disconnected battery generate the same strange noise and same error on teachpendant

    ""Error 38001 Battery Backup on SMB1 on measurement system1 at connector_board 1 lost since last power down or restart."


    What do you think about changing SMB from external axis to manipulator side? We can try it after bypassing external axis functionality?


    Photos of SMB in manipulator and NiCad pack:

    https://drive.google.com/drive…5Oa9x5MxWJopJQ1txFiDOct4E



    Jumpers are done, only EN led is off. Safety button on the front panel and teachpeandant is working.

    https://drive.google.com/file/…_wws0Po9BflyyVTMfwJa/view


    Quote from Skooter

    Where does the cable plugged into the DSDQC513 X2 Axis Computer connection go to?

    Can you take a picture of the top of the computer unit?


    Picture of the top of the computer unit https://drive.google.com/file/…Bf5w65Mv/view?usp=sharing

    Sketch of connections: https://drive.google.com/drive…OJ1nIjaTLm7OidJFIL8x8f4Rf

    If you still have the 55306 error, you could swap the 2 axis computer cards. and see if problem follows the card. Just reseating the cards in the PCI bus sometimes fixes S4C+ computer issues.


    Still wouldn't worry about the battery error until the system errors are corrected.

    Open circuit charging voltage (without battery) may be around 9V.

    Quote from Skooter

    If you still have the 55306 error, you could swap the 2 axis computer cards. and see if problem follows the card. Just reseating the cards in the PCI bus sometimes fixes S4C+ computer issues.


    Still wouldn't worry about the battery error until the system errors are corrected.

    Open circuit charging voltage (without battery) may be around 9V.


    Unfortunately i don't have 55306 code of error.



    Okey, don't worry about SMB error now, 9V was when battery was connected. First, as you mentioned, we have system errors to resolve. I will attach a file from backup floppy disk later today.

    Thanks!

    I swapped the axis cards place with each other both 3HAC3619 (external axis <->manipulator axis) but i don't see any changes. I came back to factory seating configuration.


    Sometimes error code 33506 is received or sometimes 33417 i don't know why.




    "33506 Axis computer cmd error - Timeout when sending or receiving motion command to axis computer connected to connector board 2."

    -Restart the controller

    -Reinstall the sytem

    -Replace Axis computer board


    "33417 Transmission error - Error in measurement system 2 at connector board 2 when testing seriel link in normal mode."

    -MEASUREMENT_CHANNEL

    -Check seriel link

    -Check/Replace measurement board/s

    Check/Replace Axis Computer board


    I see connection with errors, when i click erase all logs then after reset i see 33417 error code.



    I did a test with disconnected cable between axis card (from external axis, PCI3 slot) and DSQC513 (from external axis, X2 AXIS COMPUTER slot) . Code 38001 disappear but when is plugged nothing change.

    https://drive.google.com/file/…hXnmL-B_/view?usp=sharing

    The topology is as follows: EXT AXIS SMB <cable> DSQC513 <cable> EXT AXIS CPU


    Done:

    EXT AXIS CPU swapped with Manipulator AXIS CPU - nothing changed

    checked cable continuity between DSQC513 & AXIS CPU - looks good


    To do:

    check cable continuity between EXT SMB & DSQC513

    swap EXT AXIS SMB with Manipulator SMB. Can i swap it?


    Error 33506 is more common than 33417 but appear randomly :loudly_crying_face:



    I would most like to take apart all the components responsible about External Axis and configure like in "standalone mode" What do you think?

    SMB should swap.


    Removing the ext. axis would be easier if you created a new system.

    Be aware the DC2 DC-Link (DSQC345C) currently installed is larger to support the ext. axis than the standard DC1 DSQC345B. You may need to go with the smaller DC1 DC-Link as I seem to remember problems with that in the past.

    I changed place of Manipulator SMB with EXT axis SMB but nothing changed also cable continuity between SMB and DSQC513 looks fine.


    Surprised something was wrong when i disconnected cable between (R2 SMB) EXT axis SMB with (X4 Measurement System 1) DSQC513 and started the system but nothing was changed. Error codes were the same.


    I decided to change connection on DSQC513 card from (X4 Measurement System 1) to (X5 Measurement System 2) and it was a bingo . I think.


    No internal errors are visible and see resolver values on teach pendant from manipulator SMB.

    Current error codes:

    https://drive.google.com/drive…BX3XW4pnTkKPXQTnCYajfAszO


    My hypothesis is one of these

    -damaged X4 Measurement System 1 - connector or electronics (most likely)

    -some moron changed cable connection inside cabinet after disconnection from robots cell.


    What should i do now? Prepare new system? If yes how to prepare it what software i need?

    A new system might require replacing the DC-Link as stated above.

    You will need RobInstall software and a backup to extract the Key from.

    If you're very, very lucky, the original CD is in the controller document pocket.

    ABB tech support will usually provide a temporary link to download RobInstall if all else fails.


    You should also make sure you can connect to the service port. Need a crossover cable if plugging directly into a laptop/computer.


    Much of this information already exists on the forum and in the manuals also on the forum.

    I will try to test the actual configuration without the external axis and with the actual larger DC-LINK/rectifier module, if there are any problems I will buy the smaller DC-LINK/rectifier module or servo motor for dummy operation.


    Unfortunately i didn't find any floppy disc inside controller with RobInstall (only cigarettes) but sent a massage to ABB tech support and I'm waiting for response.


    One thing confused me with connection via service port to ftp server. All addresses set correctly (IP address, net mask, gateway ip) but i cannot connect to ftp server which is hosted on controller.

    In 99% of cases i received left statement, right statement is very little (check attachment)


    Tested on 2 different PCs, one with WIN10 second WIN11, FTP clients: FilleZilla(tested on old and new version) and WinSCP also check via browser ftp://192.168.125.81 but nothing was opened.

    Checked on two different crossed Ethernet cables too.


    As we see on log in attachment, robot controller is working on VxWorks rtos and service with FTP server is running. I don't know it's problem with my PC setup or problem with robot controller.


    I will try tomorrow this hint:

    https://forums.vandyke.com/showthread.php?p=54017

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