90V DC. Big heavy robot, be careful.
90V DC. Big heavy robot, be careful.
I tried with 90VDC but its really hard to move each axis when is "released" .It looks like abnormal release. I'm confused because on the αi S 40/4000 manual says that it uses 24vdc. Maybe the robot its very heavy and its really hard to move by this?
The aiS 40/4000 represents series, size & speed. A06B-0272-B605#S000 is the likely part # found on the motor tag. The motors on the robot all have 90V brakes. The manual you are using may not have the specifications for robot specific motors.
What voltage are you using? Is the power supply providing enough current? You should hear a "clack" and feel when the motor brake opens.
At the motor brake connector, make sure (+) is on pin A & (-) is on pin B.
The aiS 40/4000 represents series, size & speed. A06B-0272-B605#S000 is the likely part # found on the motor tag. The motors on the robot all have 90V brakes. The manual you are using may not have the specifications for robot specific motors.
What voltage are you using? Is the power supply providing enough current? You should hear a "clack" and feel when the motor brake opens.
At the motor brake connector, make sure (+) is on pin A & (-) is on pin B.
I tried with both options: 24vdc and 90vdc. But i didnt hear that "clack", i measured the current and it was around 0,6A at 90vdc on axis 5, but it was really hard to move,i assumed something is wrong.
Then i found this manual and it confused me 
. (see attachment)
Again, the aiS 40/4000 is the series but not the specification for that motor. If you search the specification numbers in your manual, you will see no match for the number on the motor. That manual is for non-robotic motors. Robot motors are usually different in shafts, brakes & encoders. Robot motors are 90VDC.
Try axis J1 motor brake (or J4 if safe) and see if you have a difference.
Maybe it's stupid, but it occurred to me... wouldn't it be necessary to unlock the M6 or M4 motor at the same time? I don't know how it is on the M-900, but on the M10, 2 motors rotate simultaneously even if I only rotate the J5 axis due to kinematics and gears.
Maybe it's stupid, but it occurred to me... wouldn't it be necessary to unlock the M6 or M4 motor at the same time? I don't know how it is on the M-900, but on the M10, 2 motors rotate simultaneously even if I only rotate the J5 axis due to kinematics and gears.
That is a good catch. Regarding J5 - releasing the brake on J5 and moving J5 will also move J6 and does cause extra mechanical resistance. Releasing J5 & J6 brakes will allow motor M6 to also turn and sometimes decreases the resistance. As jstolaruk mentioned, it a big heavy robot and has more inertia to overcome to move by hand.
