508 errors are related to the floppy drive. It will have a sub-code on the right side of the display that gives the exact fault.
Download the S3 M93 Service Manual found in the manuals section for more detail.
508 errors are related to the floppy drive. It will have a sub-code on the right side of the display that gives the exact fault.
Download the S3 M93 Service Manual found in the manuals section for more detail.
Those are the latest boards. You should be able to load either BW2.1 or BW3.0. The DSQC335 should already have the newer EPROMs needed for either BaseWare.
If they are M96 version of robot, then it could work. M94A robots are physically different and I don't think the S4C software has the configuration files for them.
Using a text editor, look at the disc.id file on one of the software boot disks. It will give the software type in the that says 'label text'.
Updating depends on the hardware you have and having the proper software.
Which BaseWare is loaded, BW2.0, 2.1, or 3.0? I know SearchL is in BW 2.1 and newer, I don't have clear memory about BW2.0. There is a Search instruction on the S3 that I used for destacking a few times. Since BW2.0 is between, I assume BW2.0 would have some variation of search.
ABB can provide a keystring with ArcWare for just about any robot. I've seen a Lincoln interface on the teach pendant of a newer system that had a PowerWave R500 connected. It was connected thru ethernet to the PowerWave.
Hard to remember details that far back, don't remember if they're part of the cable track or not.
Does the SMB have IDC style or DB style connectors? I'm pretty sure the resolver units had DB15M connectors.
Make sure the shielding on the resolver cable is intact and has continuity from the grounding point near the SMB to the connector at the resolver assembly.
Are the burnt contactors K1 & K2?
Do all the other axes jog without issue?
Examine all connections between amplifier and motor.
Line up the chisel marks on the brake again and make sure the commutation number in the parameters matches. Redo commutation, number should be very close to the previous value.
To eliminate mechanical issues, is there any way you can you run the old motor outside of the robot and still plugged in to axis 1 cable? Coupling the resolver would be the difficult part.
The motor phase-to-phase resistance should be exactly the same. I have a 40 ohm scale on my DMM that gives me .01 readings which works good for robot size motors. Hardest part is to get consistent connection for the meter leads. A pair of minigrabber-to-banana leads work for me.
At the back of the amplifier, check the inside of the female pins on the XP1 connector that mates with the amplifier output pins. Seen these go bad on a few 6000/6400 robots with the same style amplifiers.
If all else checks good, swapping axis 1 and 3 motors can verify motor as good or bad.
Paint remover can also work. Two types - removing enamel and removing latex.
As mentioned by panic mode, be careful of damaging the circuit traces and components.
Using an old soldering/desoldering tip works sometimes.
Also be careful with ultrasonic cleaners as some components are not sealed and can be damaged. Relays, LEMs, transformers for example.
For me, leakage to ground usually gives current issues.
These are found on the manuals section of this board:
The Robotic Industries Association set the "standard practices" for safety. Quote because that is verbiage that OSHA uses to enforce safety.
And they're close by in Ann Arbor.
Hopefully this is the dual run-chain R-J3 RIA controller.
Edit: Additional link to RIA > RIA Safety Training Seminars
It seems you are doing the right things.
Press the axis 1 brake release button and move the robot. Does it feel smooth? Does it feel like the brake might be dragging? Does it "clunk" when changing direction?
While in the jog window and in joint coordinates, pull in deadman and bump the joystick to release the brakes and apply voltage to motors. Does axis 1 position stay steady or do the numbers change as it holding position? Changing numbers with motor power applied can indicate a weak resolver or shielding issues.
I would assume the offsets on the sticker are correct for the other axes and set axis 2 with an accurate inclinometer on the machined flat on the back of the lower arm. I first zero the inclinometer on the axis 1 machine surface in the X direction with axis 1 at zero, then move inclinometer to axis 2 machine surface and jog until it reads 90.00.
Regarding the calibration numbers not matching, I've come across dozens of customers who would routinely fine calibrate the robot as part of resetting the rev. counters and they would spend hours unnecessarily retouching the points.
Think, one of the labels is commutation offset (motor to resolver), another one is calibration offset (axis zero position). It is written Komm and Sync(d?)...
Makara is correct. The commutation & synchronization offset values need to be entered in the parameters as a new software load will have default values of 0. Go to Parameter Menu > Manipulator > Motor to enter the values for each axis motor and select Yes for Offset Valid. Restart the robot to load the parameter changes into operating system. You need to enter the commutation values and restart BEFRORE jogging the robot. The values you see are in radians.
The M94A 2400, 3200 & 3400 were slightly modified versions of the earlier 2000 & 3000 designs where the resolvers are not built-in to the motors and require commutation be entered manually. New design for M96 2400 have motors with built-in resolvers that are preset to 1.5708 radians.
Lots of choices when it comes to I/O. Be very specific about the robots and equipment you have and what you want to do and the answers will come.
Software for S4 does not have a key disk. Each disk has a disc.id file where the system serial number is encrypted in a portion of the disc.id file. Key disks are used with the S4C software.
Have you tried ABB?
As an FYI - the BaseWare 3.0 in the link has an IRB disk for an M96 IRB2400.
You may have luck contacting ABB. They will need to know the following:
Robot serial number and controller serial number
Robot type (example: IRB2400 M94A)
DSQC numbers of the Robot Computer Board, Main Computer Board & Extended Memory Board
Part numbers of the (2) EPROMs located on the Robot Computer Board
Application (example: arc welding, gluing, material handling, etc)
What options it had (Advanced Functions is typical)
If it has external axis