So we needed to change the D batteries in the robot. Swapped them out successfully then the robot was jogged to clear the SRVO-075 alarm. While jogging the J3 axis, the J1 axis pulsecoder connector was crushed by the arm. We're now getting a SRVO-068 alarm. How can I jog the individual undamaged axis to get the arm clear of the J1 servomotor/pulsecoder to replace the broken bits?
R-J3iC w/M-6iB/6S - SRVO-062 BZAL and SRVO-068 DTERR alarms - jogging with broken J1 pulsecoder connector.
-
SterlingMT -
December 27, 2023 at 6:47 PM -
Thread is Unresolved
-
-
kwakisaki
December 27, 2023 at 6:49 PM Approved the thread. -
Disable axis 1 in the system variable $scr_grp.$axis order. Change the first number to zero and reboot. System will ignore j1
-
ROBOT_G, thanks for the guidance in the right direction. I set axis 1 to 0 then restarted. I then got the following alarms:
SRVO-215 Brake Unit fuse blown (R:1)
SRVO-214 6ch amplifier fuse blown (R:1)
SRVO-302 Set Hand broken to ENABLE alarms
Checked those fuses and they're fine. Turned back on 1 in AxisOrder and those alarms went away. Do I need to change any other variables to have the controller ignore that axis completely?
-
There is not any other variable to change. You state the pulse coder connector was crushed was that repaired? You cant have any shorts on the pulse cable.
-
As Robot_G is referring to - Once a major error (-068) is cleared, other errors are now presented.
Seems this is a Catch-22 where you likely have to move the arm to fix the problem keeping the arm from moving.
Since it's an older M-6iB where the brakes are likely worn a bit, I would slowly & gently lift the upper arm by hand with enough force to overcome the brake in J3 motor. Do this with the power on and you'll not lose mastering (if it's already mastered). For those that may think forcing a brake could damage the robot, there is far more stress to mechanical parts when an e-stop occurs when the robot is in full motion.