Posts by Skooter

Basic 2.0 revision 13 was the last revision if I remember correct. It was stable with very few bugs.

You should reload the system parameters from a backup.

The parameters in the backup folder labelled SYSPAR

Here are notes I wrote for a customer a couple of decades ago:

• Press the Misc Menu key, cursor to “System Parameters” and then press the Enter key.
• Press menu softkey above “File”, select “1 Load Saved Parameters…” and then press the Enter key.
• The menu shown should be defaulted to the FLP1: unit and the directory “SYSPAR” will be selected. If the “SYSPAR” directory is not selected, cursor down to highlight the “SYSPAR” directory.
• Press the function softkey under “Ok”. Parameters will load.
• Press the menu softkey above “File”, cursor down to “Restart” and then press the Enter key.
• Press the function softkey under “Ok”. System will warm start

Glad you can still find the RUN relay. Wonder what caused the open circuit trace on the brake board?

Why not use RW5.16? I do not recall any issues updating 5.14 to 5.16.

The DSQC202 means it is M87 - M89.

I do not have a copy of a Product Manual that old.

This is a screen shot I used to share years ago for XP connection to S4C+.

I am not sure which variation of S3 controller you have so I hesitate answer.

Which CPU does it have - DSQC202, 215, or 230?

What is the serial number?

Good luck but it may not be easy to find. Many IRB6400R were incompatible M2000 w/BW4.0. They also offered an IRC5 controller upgrade for the arm which seemed to sell well.

A16B-1212-0871 is the part number

/13C is the revision level, the higher the number, the newer the revision.

Although Fanuc has a few exceptions, most Fanuc parts are interchangeable if the part number is the same and the revision level is not.

See post #11. Those pages are in the S3 M88 Service manual >here<

Download the M90 IRB2000 found >here< .

I think there is a 24V brake fuse on the power unit. Did you identify a Brake fuse?

I remember the 24V Brake voltage was usually closer to 23V, but 22V should still work.

Did you download the S3 Service Manual found >here< ?

Page 206: Typical S3/S4 Brake PB connection > X1:B16 (24V) & X1:B15 (0V)

If no voltage, check Page 204: Brake PB (push button) 24V on connection X2:35 & X2:28

If there is Brake PB voltage at X1:B16 (24V) & X1:B15 (0V) then check the MP cable and connection at the robot.

My memory is not good on these, it's been 25 years.

If the Brake pushbuttons are not working when the motor power is off, check the normally closed contacts on the RUN contactor in the Power Unit. There should be 24V across the contacts.

I don't have it but but can you verify that you are looking for a BW3.2 version Key Disk.

Might be the wrong cable. I suggest having some null modem adapters like these. I used to buy them 10 at a time and hand them out to the maintenance folks wherever I went.

Hope you get better soon.

To add to kluk-kluk's memory advice - you could wiggle the boards slightly without removing them and see if that helps. I also suspect the power supply - they degrade with age and yours is old.

I updated user signals manually - cut & paste and make some changes. Done it many hundreds of times since the S4 came out, it takes a couple of minutes. Make sure it is saved as unformatted.

Because you mention syncing the robot, I assume this is the older S3 style between M88 & M90A.

The 506 Servo Error 1406 occurs when axis 6 is commanded to move but the axis 6 resolver values do not change.

Can you manually move axis 6 if you press the axis 6 motor brake release button?

If you can manually move axis 6, go to the SYNCOFF parameter menu and keep press NEXT until you get to A6 FINE to see the resolver value. The value should be steady or only changing between 2 adjacent numbers. Press NEXT and verify the same for the A6 Coarse resolver. While at the A6 Coarse resolver menu, release axis 6 brake and verify the resolver values change when the A6 axis moves. Cycle power on the controller so any accidental changes are not saved (written to the EEPROM), DO NOT press 'ACTIVE'.

Take a look at the attached

The picture shows attributes for digital output DO_03.

Always make a backup before making changes!

Go to I/O Unit parameters and verify Board_01 is set for 16 inputs and 16 outputs.

If that is correct, then go to the I/O User Signal parameters and make sure any of those 16in & 16out you would like to use are defined.

Setting up I/O parameters is explained in the User Manual.

Attach the EIO.cfg file from your backup if you need more help.