Posts by brunomotter

Quote from Bjboyd24

Gives alarms on start up

Looks like the servopack is bad. Do you have a spare one to test?

Can you turn the servo power on or does it give the alarms on startup?

Remember! Resetting the controller will also erase any program written on the memory! So, make sure to backup any important files prior to resetting.

Have you tried reinitializing the robot files?

1. 1. Ensure MRC power is off prior to performing the following.

2. 2. Turn the rotary switch on the MCP10 to 7 and turn on MRC controller power.

3. 3. Select SETUP SYSTEM using the cursor up/down keys and press ENTER

4. 4. Select SYSTEM CONFIGURATION using the cursor up/down keys and press ENTER on the PROGRAMMING PENDANT.

5. 5. Select INITIALIZE using the cursor up/down keys and press ENTER on the PROGRAMMING PENDANT.

6. 6. You will now be ask a number of question pertaining to the configuration of your system answer each by cursoring up/down left/right and pressing ENTER on the PROGRAMMING PENDANT after selecting the appropriate answers.

7. 7. After answering YES to the final “are you sure question”, power down the controller and power back-up

8. 8. Re-load all MRCII Data, system is now ready to run.

Hello again guys. Does anyone here have the pinout configuration for the servos of the SK6 manipulators? The Servo model is SGMP-01AWYR22. I want to use the servos for another purpose and need to know what signals come from the cables so that I can figure out how to wire it for my application. Thanks!

Quote from 95devils

I still think it's the servopack. Can you clarify "inverting the cables also inverted the problem".

If you went through the procedure that RoboDoc was talking about here's what we know:

1) Problem exists on the R-axis, somewhere.
2) The B-axis is ok. This verifies the B-axis amp is good, the associated wiring is good, and the B-axis motor is good.

If you swapped the R and B power and encoder leads at the amplifier and the problem migrates to the B-axis here's what we know:

1) The B-axis motor was good.
2) The B-axis associated wiring was good.

This leads us to conclude that the servo pack currently driving the B-axis is bad, which is the R-axis servopack. It is the only item common.

If you swapped the leads out at the motors then it's a different story.

There are different servopacks with the 010101F number, there are 010101FC and 010101FD. I am not sure of the difference. What amps numbers to you have available to you?

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I switched the cables on the servopack, as ROBODOC suggested and the problem migrated from one axis to the other (From R to B). But now, the B and the R axis are damaged. The R doesn't even move and gives that annoying overcurrent. The B axis gives a STRONG vibration and turns servopack power off with overcurrent alarm. I don't know what to do anymore. I'm talking to brazilian motoman tech assistance and they are running out of possibilities either.

This is really strange... Replaced cables, drives and even the servomotor... Replacing the cables and the drive had no effect over the problem. Changing the motor gave a STRONG vibration on the servo causing the motor to heat in a few seconds.

That's what I thought 95devils... Now, another question... Do I need to replace the servopack with one of the same numbering? The one in the panel I'm troubleshooting is 010101F, but I don't have any with the same numbering... Can I replace with another one?

Quote from Robodoc

Brunomotter,

Glad to hear you got your pendant to display. Overcurrent can come from a bad servo pack, bad motor or bad cables.

To find the problem, go to the controller and look at the two servo packs. The one on the left is for S/L and U, the one on the right is for R/B and T. I remember the B axis is in the middle, but I don't remember if R is at the top or bottom (I think it's the bottom). Anyway, swap the black four wire motor connector and the grey encoder connector (leave the silver one in place) between R and B. When you turn the power on you will get an alarm about "out of range" that's ok and to be expected. Clear these alarms and in teach, turn your servo power on. In Joint coordinates you can press the R+ and R- buttons and the B axis will move. If you get the same overcurrent alarm, the servo pack is bad. If you can move B, now attached to the R section of the servo pack, try moving the R axis by pressing the B+ and B- buttons. The R should move. If you now get the overcurrent, the problem is in either the motor or the cables.

Hello ROBODOC. Tried what you sugested and the problem persists, but now it gives the alarm on the B axis. Inverting the cables also inverted the problem.

Quote from Robodoc

Brunomotter,

Glad to hear you got your pendant to display. Overcurrent can come from a bad servo pack, bad motor or bad cables.

To find the problem, go to the controller and look at the two servo packs. The one on the left is for S/L and U, the one on the right is for R/B and T. I remember the B axis is in the middle, but I don't remember if R is at the top or bottom (I think it's the bottom). Anyway, swap the black four wire motor connector and the grey encoder connector (leave the silver one in place) between R and B. When you turn the power on you will get an alarm about "out of range" that's ok and to be expected. Clear these alarms and in teach, turn your servo power on. In Joint coordinates you can press the R+ and R- buttons and the B axis will move. If you get the same overcurrent alarm, the servo pack is bad. If you can move B, now attached to the R section of the servo pack, try moving the R axis by pressing the B+ and B- buttons. The R should move. If you now get the overcurrent, the problem is in either the motor or the cables.

Thanks for the response ROBODOC. I'll try that on monday and see what happens... I'm thinking it's a cable problem, but will try to confirm that! As soon as I get the results, I'll post them here!

Thanks again.

Replaced the CPU boards and the problem gone away... But now, another problem... I'm getting overcurrent on axis R. Tried cleaning the cables with a contact cleaner spray but no luck... What could it be?

Replaced the internal cable and the programming pendant and the problem persists... Probably it's some deffective board somewhere. Any thoughts?

Hello guys. I'm running into a weird problem. Started assembling a used motoman sk6 with a mrc controller. When I turn power on nothing appears on the display of the programming pendant. Double checked all cables but nothing appears to be broken. The backlight of the display turns on but nothing but a thin line in the middle of the display appears. What could it be?

Thanks in advance!

If you could send to me too i'd be grateful!
brunomotter@gmail.com or bruno.manutencao@alcast.com.br

Thanks!

Hello. I need the same manuals. Couls someone send them to me please? E-mail adress: bruno.manutencao@alcast.com.br or brunomotter@gmail.com

Thanks in advance!

I'm here to say thanks to everyone who helped here, specially PCarbines for the great attention. The robot misteriously came back to life replacing the servopac and cleaning the cables with a contact cleaner. I say "misteriously" because the servopac that I put on the panel is one I'd already tested and was NOT working and I already had cleaned the connectors with the contact cleaner about 10 times before posting here and it did not work.

Quote from Pcarbines

Hi,
I believe you should be using a multimeter to check the wiring in the Cables from within MRC (1SV ,2SV ,CN21) to base of Arm 1BC & 2BC (pins have been known to push back in these metal plugs & sockets as well as the nylon within the arm ) , right through to the nylon connectors for the encoder & motor. Check for continuity & earthed cables.
Send me a "pm" with your email address & I'll send a scanned copy of SK6 arm manual (4.5m) you can refer too for this purpose.
Please remember that if you have something installed that's faulty , every time you plug something else in you could be damaging that item,
you need to slowly work your way through a check list , wiring should now be first.

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Thanks Pcarbines, I sent you a PM with my email address. Waiting for the manual! I already made some tests with a multimeter and did not found anything wrong. Maybe I had not tested something I should have tested.

Quote from Pcarbines

Hi , if the fault has stayed on the B , then it's not the motor/ encoder ( Always keep in mind that "Murphy " might be giving you more than one fault) .
You need to now check for servopac faults &/or. Wiring issues ie. " Broken or earthed wires" ( wiring Lombs in older robots are suspect) also remember that the nylon plugs used in robot arms can fail to connect when a pin is pushed back in the nylon plug/socket.
Check for two phasing on B motor circuit.
Servopac issues are harder to find if you have nothing to swap with , however remember Murphy , the servopac you install might also be faulty , that's why we call this equipment Old.

Servopacs are ok, because I've swapped the one responsible for the B axis with one that has been sent to repair and is in our stock as a spare drive, but the problem gets even worse with the servopac replaced, giving me a lot of different alarms. I already swapped cables, including the encoder and power cables with no luck. Tried 5 different cables for the encoder/power and all of them show the same problem. My robot arm plugs are the metal ones. I even replaced the communication cables between the servopacs and the CPU and the same thing occurs.

Quote from Pcarbines

Hi , I'm assuming this is the SK6 ?
If The B axis is dropping with the servo off then the brakes are not working or it doesn't have any ( brakes on R.B.T axis was a option in some countries)
If the motor is shaking through out its movement it could be running on "two phases only " or the brakes are faulty & jamming.
Remove drive belt & repeat test.
Next - R.B .T axis motors are the same , unplug and swap around T. & B. you cannot use it for much because soft limits will stop you , however , you will see if the fault stays with the B or goes to the T.
No need to use drive belts for this test.
Obviously you will need to re-record the origin positions when finished.

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Hello again. Here are the results:

The motor vibrates even more without the belt.
Inverting the servo cables does not invert the problem. When plugging the problematic B motor on the T wires and the T motor on the B wires the problem remains on axis B.

Yep, it's a SK6. I will try what you told me to do and post the results. Thanks for now!