The robot moved when it is not supposed to, or is not moving where it is supposed to.
The robot may be overloaded or the brakes are worn or greasy.
If not, check voltage on all three phases
Check connections of the servodrive.
Replace the SIF-daughterboards.
Checked all fuses ?
I had that same problem and I could not find a software solution.
So I hooked up a horn on the UOP tp enabled output.
Every time when the robot is in program and they switch on the tp, there is a 130 DBa sound resonating through the whole factory.
That helped.
It will work, all the PSU's of RJ-2 with the same partnumber are interchangeble.
The only thing on RJ-2 i ran into trouble with are the axis- daughterboards on the servodrive.
Some versions of daughterboards won't work on some versions of servodrive.
And all of the daugterboards have to be the same version.
It indeed sounds very similar, and the solution will be very similar too.
It is bad memory or a bad cpu-board. You will have to replace and reprogram it.
If the robot has been stored in moist condition the contakts of the memory can be oxydised and cleaning can be helpfull.
Remember that removing the memory whipes it !
Since bootmonitor is having problems… you are sure the PSU is ok ?
I think the robot has to be remastered.
When it is on all axis, the batteries for the encoders are empty.
If the robot still is mastered, change the batteries WITH THE ROBOT ON !
Otherwise you will have to remaster the robot.
Change these batteries every year.
If it is only on axis 6, the problem is the encoder or the cable.
It is because the speed is in a variabele.
The robot will stop every time to see if the variabele has been changed and resume when made the speed according to the actual value.
As far as I know there is no way to lock the variabeles, so when you want the speed in a variabele you will have to live with this.
If you want a smooth movement with no stops, change the speed in the instruction to a constant. (a fixed number)
In that way the robot knows what is coming.
Ce certification of the robot can be done when the whole installation is certified, the robot will come along in that proces.
The robot has to have a double safety circuit, otherwise the whole installation will not be certified.
Fortunately there are a lot of other companies that will provide spare parts.
Do you have another robot of the same type ?
If so, you can try to swap the controller cabinet to see if the problem is in there.
ofcourse, use the original cpu-board, and be sure that the boards have a working battery connected all the time.
if, as your name suggests, you are in the netherlands or belgium, ask IRSA.
They have helped me before with this sort of problems very well.
Great !
Could it be a softwareproblem ?
I have a hard time believing it is the hardware as there is no physical connection with the encoders…as far as i know…
The A06B-6240-H106 is a single axis servo drive, most used for an extra axis.
The servodrive mentioned in the manual is the six axis drive with the topboard A20B-8101-080.
So the card is not working in three robots, and other cards are.
My conclusion is the the chinese card is broken.
When you remove the topboard, check the soldering of the CRF8 connector.
Use a microscope or a strong magnifying glass and look for bad joints and cracks in the soldering.
Watch out, the servo has strong capacitors, be sure they are flat before handling the servo.
They can give you a very shocking experience...
I am afraid it is the servo amplifier...
Since the CRF8 connector is on the topboard you can try to replace only the topboard.
Do you have acces to another robot ?
The only way I can think of is background logic programs.
I am pretty sure you can’t run more than one program that is motion capable.
Just to be sure...
You have a seperate ground wire from the contoller to the robot ?
The encoder signals go to the servoamplifier.
So, yes that could be the cullprit.
The most recent documentation I have is RJ3iC and there the signals goes to the CRF8-connector.
What sort of contoller do you have ?
On older robots, replace the SIF module and/or the DSM module, but I think they are not used anymore on modern robots. (I am not sure, we only have old robots)
Very important ! Check the grounding on all cables and between the robot and controllercabinet.
It is a mayor cause of all sorts of faults.
Check not only the cables, but also the pins in the connectors if they are still locked and can't be pushed in.
Check if the pins and bushes still look good.
Take a good look at the coupling between the encoder and the motor, and check if it is not broken.
This one kept me once searching for more than a week....
