Even if the batteries located at the base of the robot are not installed, it does not make the robot slow in software transitions. I don't think it's from the batteries in the base. In the picture, it also appears that the battery that should be installed on the CPU card is not in place, it must necessarily be installed and intact. There must be a software backup before starting the work that you will do with the CPU card. It may be that the software cannot make a healthy boot because it is corrupted, or there may be a problem with the rom memory in which it installs the software. But when you remove the rom memory on the CPU card, the software will be deleted, which is very important. A disconnect or short circuit in the control cable can also give this error, as well as there may be a problem with the control itself. It will be healthier to start with interchangeable hardware instead of trying to enter the CPU card. Even if it disconnects the cables from the servo floor to the CPU and gives an error, it can still be checked whether there is a slowdown in the software.
The controller battery is located under a cover located on the front of the PSU B1 power supply.
Most folks move the controller battery to the connection located at top of the Main Board and let it hang there. That way, battery voltage is still provided to the Main board if the power supply is removed.
Battery part # is A98L-0031-0012.
Your Profibus card is installed in the I/O panel, that is, where you see it as an input and output card. The upper part of this card is the robot's manager and the slave is the place where the output is made to a card. The lower part is where the robot is a slave and the cable from the manager needs to be connected. The lighting of the red led does not cause your profibus card to work or your robot to have software delays. This is all about the configuration of the card. If you remove the configuration of the slave side of your card, the red led will turn off. If your Profibus card or servo drive card is defective, this may cause a slowdown in the software. We need to take out their connections and try. In the case of CMOS error cleaning, if the program that your robot is running is doing a lot, a lot of repetitions, and the program repeatedly calls another program in the loop and always stays ready by waiting for an external command, this may lead to RAM stacking after a while. In it, you can use the ram cleanup section in the FILE menu, but the program structure may need to be revised and shortened. If there is no software backup available, it may also be a solution to make a backup of programs and configurations and install a new INIT on the BMON screen. However, this job will restore your robot to the latest new software installation. The first software in FRAM may still be healthy.
While the following ideas may not fix the issue, I've seen similar issues where this fixed the problem and they only take a few minutes to try:
Try a cold start - keep the Fault Reset button held in while the controller boots up. You can also cold start from the Control Start menu.
Do you have another R-J2 system? If so, 1- try another known good teach pendant & TP cable. 2- with the power on, move the battery from the power supply to the connector at the top of the CPU. Turn off power and try another power supply.
