OK, problem solved:
I changed the encoder number from 1 to 0 on Encoders menu, and cold started.
That did the trick.
Posts by BlackBamba
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With line tracking hardware, the FSSB goes through the line tracking board, via an interconnect jumper. Upon board removal, it sounds like either the FSSB didn't get reconnected to the proper place on the CPU, or to the proper place on the servo amp.
Thanks, I guess you are correct.
I'm not sure what the default connection should be.
We do have other controllers but they're all with tracking setup...
I can only see one board in the cabinet where there are options for connection: servo amp board has COP10A (slave) and COP10B (master). One end of the fiber optics cable I removed was connected to the tracking mini-board, and the other to COP10A. After removing the mini-board I simply disconnected COP10A.
When trying to troubleshoot SRVO-056 I also tried moving the plug from COP10B to COP10A (though it didn't make sense to me intuitively, being that it's marked as Slave) while trying to sort out the issue; but that has simply brought up a different FSSB fault. -
Thanks, but the error is not SRVO-058 but SRVO-056.
This calls for examination of the fiber optics, servo amplifier and main board.
Either:
1. I missed something in the physical process of removing the tracking hardware, or...
2. I missed steps of software re-configuration to match hardware removal, OR...
3. the hardware is faulty.
HOWEVER judging by the little information in the thread I linked to on my original post, options 1/2 are more likely than 3.you have a hardware start here
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Hi,I have a LR-Mate 200iD (coupled with a R-30iB) robot which has been stored for a couple of years.
After powering it up I got the BZAL alarms.
I changed the batteries first, cleared the alarms, power-cycled - but the system is still in fault mode and would not let me jog (for mastering).
Searching the forums I found this thread: mctl-014 waiting servo ready P-200E rj3ib
Ours seems to be a similar situation, as the robot was configured for tracking, but is now disconnected from the external encoder etc.
So I removed the tracking mini-board, removed the fiber optics cable (seems to be an additional cable).
Still getting an alarm: "SRVO-056 FSSB com error 2 (G:1 A:1)"
I guess I need to change something in the robot software configuration?
How can I completely disable tracking without removing the tracking software option?
In the above thread, the poster mentioned doing "a control start to change the I/o over to memory."
Can anyone please elaborate on what needs to be done here (I know how to do a controlled start, but not sure about the "i/o to memory" thing).
Any help is welcome!
BlackBamba -
Hi all,
I have a Beckhoff PLC send some data to an old CS8C, over Modbus/TCP.
One of the variables I'm broadcasting is a 32-bit float.
On the beckhoff side I've just mapped it into the output registers area, so it instantenuously becomes a "DWORD".
The problem is it stays like that on the robot side: I assign it to a "num" variable, and it displays as if it is an UNSIGNED LONG (so basically, identical to the raw DWORD).
How can I tell the CS8C this num is a floating point number?
See below the modbus.xml of the robot.
I don't have access to SRS at the moment unfortunately and had to manually edit it.
XML
Display More<?xml version="1.0" encoding="ISO-8859-1" standalone="yes"?> <TOPICSLIST> <TOPIC Name="Modbus" Card="0" Channel="0" Equipment="0" RefreshPeriod="200" Actif="1"> <MODULE Tag_name_root="Bit" IDModule="BOOLEAN" InputSize="" OutputSize="0"> </MODULE> <MODULE Tag_name_root="Word" IDModule="WORD" InputSize="" OutputSize="48"> <ITEM Name="iCmd" Syntaxe="%QW0" Offset="0"/> <ITEM Name="iCmdCtr" Syntaxe="%QW1" Offset="1"/> <ITEM Name="iFloat" Syntaxe="%QD2" Offset="2"/> </MODULE> </TOPIC> <GENERAL_PARAMETERS TopicName="Modbus" TCP_Port="502" ConnectionNumber="2"/> </TOPICSLIST>
Additional relevant definitions from the .dtx file (this is just a fragment, not the complete file):
Code
Display More<dataList xmlns="DataNameSpace" > <aioSection> <aio name="aio_iCmd" public="true" privilege="0" size="1" /> <aio name="aio_iCmdCtr" public="true" privilege="0" size="1" /> <aio name="aio_iFloat" public="true" privilege="0" size="2" /> </aioSection> <numSection> <num name="iCmd" public="false" privilege="0" > <valueNum index="0" value="0" /> </num> <num name="iCmdCtr" public="false" privilege="0" > <valueNum index="0" value="0" /> </num> <num name="iFloat" public="false" privilege="0" > <valueNum index="0" value="0" /> </num> </numSection>
Would be grateful for any help...