S4C Short Circuit

I've seen this before and it sounds like the base cable in the IRB6400. It's not too difficult to change, but you must be aware of all the screws holding the cable braces down on the inside (both on the floor and up on the rotating axis internally). It run in the base like an "S" shape and can be a pain at times. Invest in some short, hex bit set (I think it's a T25 in there) and a short driver for it. I found a small rachet style works best. Patience is what you will need to get through this. It's rare that a motor itself shorts out and seeing as it's bouncing from 1 and 2 axis... leads me to believe it's the base cable. Just my 2 cents.

Quote from Apotvin

I have a old S4C irb6400. i get the error 39207 Short Circuit. Depending on which axe i move first some time i get irb 1 or irb 2 in the error message. At first i thought was the drive so i bought 2 on ebay to replace them i been swapping all of them to see if i can get them to restart without luck.

A3 position drive (on left) is axis 3 & 5

A2 position drive (center) is axis 2 & 4

A1 position drive (on right) is axis 1 & 6

Swapping drive in A3 position with either of the other 2 drives could have helped troubleshoot without buying drives. Great to have spares now.

Double-check the robot-to-controller Motor Cable. I've seen them short out due to physical damage both cut and crushed/pinched.

A visual check of the base cable assembly in motion can spot clues to quickly point out the base cable is the issue. E-Stop controller. Remove the base cover where the air line is (4x T30 screws) and look into the entire base cavity. It is useful to have (3) people, (1) to hold axis 1 manual brake button in, (1) to push axis 1 thru it's range of motion & (1) to view the base cable while it moves. The base cable is bad if:

> the cable track is broken or has come apart

> sheathing is coming off the cables themselves

Quote from Apotvin

Hi

I have a old S4C irb6400. i get the error 39207 Short Circuit. Depending on wich axe i move firts some time i get irb 1 or irb 2 in the error message. At firts i thought was the drive so i bought 2 on ebay to replace them i been swaping all of them to see if i can get them to restart without luck .

According to manual it could also be the cable or the motor. What should i do next ? And when they say cable do they mean the cable from controller to robot or the cable that is directly connected to the motor. And if i decide to buy new motor or cable wich one would you buy firts.

Thank you in Advance for your help.

You can go from easy to difficult. First measure the motor power from inside the panel. Then measure the engine power from end to end. Lastly, measure between the robot back socket and motor ends.

Do you know why axis 2 was damaged? If it was because of a fork truck, inspect the bottom side of the motors to make sure the robot was not lifted by the axis 2 & 3 motors - this can damage the motors. Damaged motors and base cable can cause repair costs to exceed value of robot.

If the base cable assembly is bad, it may seem challenging if never done before. Once you get to that point, folks like Viperacebb in post #2 have lots of tips to help.