Controller - Pendant Connection failed

    Hello,

    I bought a YR-HP20-B00 robot with NX100 control. Condition before purchase was unknown. I don't have any manuals for it, only those that are on the Internet and on the forum. I searched the forum but couldn't find anything useful to help me.
    After starting the main switch, the Teachpendant with the Motoman logo will light up and after a while it will display the message Controller - Pendant connection failed. I checked the cable to the Teachpendant with a multimeter and it is fine. Where may be a problem? There is no card in the CF card slot in the Teachpendant. Is this card only for transferring programs or is there any software on it? Can the CF card in the robot's control box be backed up directly via a PC card reader? won't the boot sectors be overwritten or something like that?
    I work as a service electrician for CNC machines for DMG MORI, but I have no experience with robots.

    Thanks for help.


  • kwakisaki May 12, 2024 at 9:40 AM

    Approved the thread.

    First item that jumps out at me is that is not the standard pendant for the NX. That is a newer DX pendant. That pendant will work if the system software is newer than NS5.00 but it appears that the pendant software is for a DX. NS5.00 came out after the DX100 controller generation was in production by a few years.

    The pendant is where I would start. It is the wildcard.

    I see the weak battery light. If you get it to boot up the system will have to be initialized.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    You're right, I searched and the Teach pendant is from the DX100, so this won't work? The teach pendant is in bad condition, but the cable was clean, without damage. As if they took what they found and attached it to the control box.

    Yes, the backup battery status LED is on. I found the connector from the battery dropped, but the battery has 3.63V. So all the parameters are lost.. I didn't find any CMOS.bin on the CF card..

    If I remove the CF card and turn on the power, 8 lights up on the HEX display and no message is displayed on the TP. If I put it back and turn on the power, the error "E" is displayed on the HEX and the connection failed message pops up.

    The manufacturer may have a cmos.bin file but you have other issues that would make it unusable.

    The controller you show in the picture is for a HP-6 but the robot you mentioned is a HP-20. Other than the R-axis and T-axis, the amplifiers are different. The amps would need to be verified and possibly be swapped out.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    I have the possibility to buy a TP compatible with NX100.

    I wrote to the manufacturer, I am waiting for an answer if they have the cmos.bin file.

    I understand, the drives are for a smaller robot, but are they compatible? Are they weak and can display overload when the robot moves though?

    I would expect alarms with amplifier mismatch. These alarms won’t even allow you to jog the robot.

    This is assuming the controller believes it is attached to a HP-20. If it believes it is attached to a HP-6 then I wouldn’t expect alarms. But the kinematic models would be different and the arm not jog properly much less calculate motion properly.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Programming pendant part # is JZRCR-NPP01-1 or JZRCR-NPP01B-1, either will work.
    There are used ones on eBay for <= $1000.

    Our EA1400N uses same controller. Look at NX100 Controller Manual # 149201-1CD. The manual section describing the servo packs does a great job in showing the differences between the HP6 & HP20 servo packs. As 95devils was saying, if you want to make it useful as a HP20 controller, you'll need to correct few differences in axis amps and converter. Looking at our controller, it looks like the CN102 cabling for the amps will accommodate the larger axis 2 (L) amp needed for the UP20 configuration. That larger amp also has a larger connectors for PN & motor so if you get that far, I can help with the part #s to make adapters.

    OK, I ordered a teachpendant compatible with the NX100. Then I'll see what happens next.
    I looked at the servo packs in the manual and it doesn't look like it would be hard to rebuild.

    For now I'll wait for the teachpendant

    I connected the second teachpendant which is compatible with the NX100, and the system did not boot correctly again, but it does not display a connection error, but there is a beep at the end of the video.
    If I press and hold the main menu button and turn on the power, a window with the text Maintenance mode appears at the bottom right, but nothing else happens.

    "E" lights up on the nif card

    I uploaded the video on YT.

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    Looks like it shows just the bottom area of the Maintenance Mode screen but nothing else.

    That pendant look rough with the gasket hanging out - are you sure it works? Does it beep when you touch the touchscreen? In Maintenance Mode, press the 'Area' key on the pendant and see if the background of the bottom display line toggles.

    You are right, the teachlendant looks in bad shape and the covers are unscrewed. I found a guy with an NX100 who promised to try my teachpendant.If I click on the screen or press any button, there is a click beep.

    If I press the "Area" button in maintenance mode, nothing happens.

    So I will try to test teachpendant to rule out an error.

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