Posts by 0lda

    SomeTekk is correct, A3 is the physical location of the drive. A0 is the DC-Link on the left, but A3 is next to it. The 4 drive positions in the S4C from left to right are A0, A3, A2, A1.


    Start with the easiest - since all 3 drive units are the same in the 4400, swap drive unit in position A3 with position A2. If problem moves to A2, it's the drive.

    Next easiest - if you have another robot with the same robot-to-controller motor cable, try that. I remember 3 distinct times where it was this cable.

    Hello Skooter. DU positions was exchanged before.

    OK, it's the very good advice with power cable. Thank You. If i remember nobody bet that the issue can by caused by the floor power cable. So, to exchange the floor cable its a easy step, there is no installation into workcell, only simple fence. :smiling_face: :thumbs_up: :thumbs_up: :thumbs_up:

    If I remember my S4C+ history (nowadays almost ancient history :face_with_tongue: ) A3 is not an axis designator, but position in the cabinet. I think C+ controls had nearly all multiple motors connected to the various drive units, 6400s 3 2 axis units, 1400s 2 3 axis units and a dummy box for air flow, maybe ???


    4400: Hint A3 drives axes 3 & 5


    If I remember my S4C+ history (nowadays almost ancient history :face_with_tongue: ) A3 is not an axis designator, but position in the cabinet. I think C+ controls had nearly all multiple motors connected to the various drive units, 6400s 3 2 axis units, 1400s 2 3 axis units and a dummy box for air flow, maybe ???


    4400: Hint A3 drives axes 3 & 5

    Hello. OK, Thank You. Positron of DU were exchanged to each other, so its's most probably can be caused by the "brand new" (refurbished) motor axis 3. :thumbs_up:

    Ad. S4C+ cabinets, these controllers sucking industrial dust from surrounding air trough every possible gaps between doors and chassis because the air filter is always stuck by dirt, and internal parts were full of sh1t. :winking_face:

    I don't have error numbers memorized, can you post the text of the error?

    Hello Lemster.


    Thanks for you time.

    I've never see the error like this. Err. disappear after restart and robot is always running for a couple days.


    The description is:

    38456: Drive current measurement error

    Internal current measurement error detected by drive unit A3 in cabinet 1.

    Perform a shutdown and then restart the system. If problem persists replace the faulty drive unit.


    DU DSQC346G were mixed.

    I guess there would be something wrong with motor axis 3, but this motor is under warranty, motor was exchanged before 2 months.. Old motor axis 3 has short connection at brake.

    Maybe can be best to exchange whole robot for IRB4600... :smiling_face:

    Hello there.



    Please, about err. 38456 does anybody know what does it mean?

    Thanks in advance. :confused_face:

    BR, Oldřich.


    38456 - Strommessfehler Treiber

    Reason: Interner Strommessfehler von Treiberstufe A3 in Steuerung 1 festgestellt.

    Actions: Perform a shutdown and then restartthe system.- If problem persists, replace thefaulty drive unit.

    Hello. Try to swap the drive unit. Use Du at positron A1 as A2, eg. Drive units S4C(plus).xls

    Its write "too many faults, bus off". I would suggest that you should check DeviceNet cable end check if end line terminator is present. Good practice is disconnecting each single branch of the bus cable and check if problem persist. BTW. It looks like RW6.

    Hello.
    Apparently you jot a mismatch, dcling with G is DSQC358G i.e. DC4 with ext. axis drive U.
    In general, drives from 6400R cant' be used at 6400.
    BR, Olda.

    Hello Sandeep.
    If you hear the squeaky sound, it looks like closed brake. When DC link voltage became low, check motor current breaker at line before DC link, check motor and cables for short connection, and check drive unit.


    BR, Olda.

    Hello Sandeep.
    SMB board has 7 nodes, six nodes would be found only at old/obsolete boards.
    At the begining you had SMB connected to board 2 which means the second SMB in the connection box
    #
    MEASUREMENT_CHANNEL:


    -name "M7C1B1_T" -use_measurement_board_type "DSQC313" -board_position 2 -measurement_node 7


    now the new record of board possition is missing


    -name "LIN7" -use_measurement_board_type "DSQC313" -measurement_node 7



    Check/change measurement channel, that would be connected directly to robots SMB at measurement link 1 board 1 node 7
    or at connection box to link 1 or 2, and node from 1 to node 7.


    Moreove you wold check new MOC at section Drive Unit is the record which is pointing to "name "M7C1B1"
    #
    DRIVE_UNIT:


    -name "M7C1B1" -use_drive_unit_type "DSQC_546A"\
    -use_current_controller "c_c_fast_1"\
    -use_drive_unit_supervision "d_u_sup_high" -drive_system 2\
    -unit_position 1 -node 2 -i_max 57 -i_thermal 30\
    -temp_ambient_rise_transistor 2


    I know, it's a long way, if you can, use the ConfigEdit from Robot Studio 4.0.


    BR, Olda.

    Hello. This parameters are going from backup.
    I remembered that similar problem appears when i did configuration for MTC5000 at IRC5, and -use_motor_type "3HAC046602-001" solved it, then i seek for example of motor section at S4C+ with T6003, and i accidentally found some backup of 6650/3.2-125 at the track, but i can‘t provide whole backup. BR, Olda.

    Hello Sandeep.
    I'm wondering that would be wrong section MOTOR, MOTOR TYPE.


    #
    MOTOR:


    -name "T6003" -use_motor_type "T6003_T" -use_motor_calib "T6003"


    MOTOR_TYPE:


    -name "T6003_T" -pole_pairs 4 -inertia 0.00428 -torque_0 21.7 -ke 0.6076\
    -ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05\
    -ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 48\
    -torque_losses_at_speed1 0.18 -torque_losses_at_speed2 0.33\
    -torque_losses_at_speed3 0.4 -speed1 5 -speed2 212 -speed3 425\
    -r_stator_20 0.14 -r_stator_temp_coef_20 0.0039 -l_stator 0.00162


    Some example at attachment.


    BR, Olda.

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