Uploaded the M2000A manuals.
Posts by Skooter
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These manuals are related to the M2000A controller sometimes called the automotive controller. My favorite of the S4 generation with the extra drive bay, extra room for I/O & interfacing and the ease of sliding the computer unit out to troubleshoot while running.
The M2000A IRB6600 Product Manual is previously posted >here<.
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To get specific answers, need to know which controller this is.
They branded IRB6650 robots across 3 different models of controllers, M2000, M2000A, M2004.
Which model controller is this?
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The axis J4,5.6 gearbox look like it had the correct amount of grease but it doesn't quite look like Molywhite RE.00 or the Vigogrease RE0. The excessive pressure you had described earlier could have forced grease into the J6 motor and is causing the J6 collision error.
The gearbox cavity of the used robot looks like it was not pm'd and the grease has dried up quite a bit where it hasn't been mixing during movement. I would still try the motor from this robot in your current one.
Hint: Bring axis J3 down as close to vertical (-90) as possible to eliminate grease loss during upper arm motor changes.
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Pitch matters! I believe those are coarse thread with a 1.75 thread count (or pitch) for the M12. Most longer bolts have an unthreaded shank between the threads and the head.
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The result is you now have spare parts to troubleshoot with and potentially save more down time in the future. You've gained knowledge & experience and have a better understanding of shortcomings that can be reduced thru additional training. Plenty of positive here, I wouldn't be too upset.
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Make sure the connectors on the E-Stop unit and Main Board are well seated.
Just to rule out the TP & cable, swap them as a pair from a working controller.
You might also want to try a Cold Start by holding the Fault Reset button while the powers up.
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well. I changed all the batteries two weeks ago. I do have a message to take it safe home I might have to do a mast/cal will that remove the alarm ?
If you changed the batteries with the controller power off, that could be the cause of the BZAL if it alarmed on all 6 axes. Always change Fanuc robot batteries with the power on. If the BZAL is only on 1 axis, then there may be another cause such as intermittent wire, bad Pulsecoder, someone unplugged cable to the Pulsecoder, etc.
If you search the forum for "BZAL", you will find many examples on how to reset the alarm, mastering, and troubleshooting the alarm.
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Guide pins - buy (4) M12x90 bolts and cut the heads off. Chamfer the edge of the cut end and cut a slot in it to fit a flat screw driver. The slot for the screwdriver helps with loosening. You need 2 but make 4 so you have spares as rookies sometimes bend them.
Regarding the "bump" - you seem to have narrowed it down to J2. Inspect the balancer rear pivots for wear and the watch the front where the rod couples to the lower arm when this bump happens. It's unlikely to be a balancer issue but worth ruling out before undertaking an RV.
You can also remove the J2 grease outlet bolt and insert a wire tie in as far as it will go, pull it out and wipe the grease on a clean paper towel. If the grease is dark and has tiny metal flakes, it is the RV.
Regarding location of the "bump" - if there is play in a worn RV, the bump location could be where the balance shifts the play from + direction to - direction.
Agree with pdl, a lot more problems would be resolved a lot faster if all posts were as organized and detailed.
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After greasing an axis, jog the axis back & forth until grease stops coming out of the outlet, then put the outlet plug/bolt in. Allows pressure built up near the inlet to dissipate. Only adds a couple of minutes to the PM time and well worth it.
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If the clock falls back whenever the power is off, then it's the CR2032 located on the CPU card. Take very good notes on the where the wires go if you remove the CPU to change the battery. Don't forget to change the time & date afterwards.
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What version software?
Which robots?
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Information on the DSQC509 Panel Unit referenced by Lemster68 can be found in the S4C+ M2000 Procedures manual found >here< on pages 82 - 84.
Which of the 6 LEDs on the upper right come ON when the Deadman is pulled in?
The reference manual also found there has the diagrams!!
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The commutation offset for ABB motors for the robots is default to 1.5708 radians. The picture you show of the ComOffset is correct. The resolver is aligned to this position when the motor is built/rebuilt, DO NOT change this value or move the resolver.
The motor part number may vary as ABB has new replacement motors with different part numbers. I would expect a 22 year old robot to have a few motors changed.
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Just to clarify, is the robot directly controlling the external axis motor?
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Did you swap the teach pendant?
The enabling device is the deadman switch in the teach pendant.
Like 851dave mentioned about the deadman circuit switches, sometimes when one of these switches goes bad, it will give this error.
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Think you also should plug in TB1, the upper left connector. There is included the power supply for the logic.
Yes. 28VAC between TB1-4 & TB1-5. If it's missing, check the 10W limiting resistor on the transformer primary.
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You should have 24V at the X2 CAN Bus connector on the PIB Module between pins X2-1 (0V) & X2-5 (+24V). That should at least get the MS turned ON.
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Information on the DSQC509 Panel Unit referenced by Lemster68 can be found in the S4C+ M2000 Procedures manual found >here< on pages 82 - 84.
Which of the 6 LEDs on the upper right come ON when the Deadman is pulled in?