Done, in the attachement.
When I release deadman switch the arm of the robot starts to sag, seemingly its only J2 that doesn't lock up right away. Looking into the manual the solutions are either to replace the motor or the relay.
Now I am pretty sure its the motor because if it were the relay it would affect more joints I would think.
Is that accurate? I don't want to go through changing the motor to find out it was the relay in the end, how do I know for sure which one is the problem?
How many degrees it slips?
Robot itself can drop a bit after releasing deadman, 'cos brakes need some time to catch the axis
Yes, attach files and then somebody could translate it or you can do it yourself.
Write a program eg. TEST with the following lines:
1: ASCII_SAVE = 1
3: ASCII_Save = 0
Then run the program in manual mode untill it stops (line 2), make TP programs backup, then finish the program TEST.
And finally you have all TP programs in ascii.
I advise to use Skip condition.
As I wrote above:
1. Create the new program (no motion) eg. TEST with the line you need.
2. MENU -> 6 SETUP -> BG Logic -> ENTER
3. Choose you program TEST, then F2 RUN.
Might want to remove grease zerts and drain plugs before removing cover to release any pressure.
No, if properly geased before, there shouldn't be any pressure. It's not the RV reducer, just gears inside, so no problem with pressure.
Well... I'm not sure whether it exists... sorry...
I've found part number for the cover, which is A290-7216-X524, but there's no part number for the rubber seal. And unfortunatelly, I don't remember whether it's fixed to the cover or not, could be fixed.
What I'd do is, to take off the cover and check.
You can always make the seal from a plain rubber using the scissors, I've done it many times and it works
Tool frame or User frame?
Look into MENU -> 1 UTILITIES -> F1 [TYPE] -> and then
- Tool Offset
- Frame Offset.
There's a rubber seal.
Just turn the gear up side and take off the cover - in that position, not so many grease will spill out.
Check fuses (green 1A) on the PSU - both for +24V.
You can easilly clear such reminders - go to STATUS -> Reminders and then click F3 Complete on each avtivity which was performed, such as "Change mech. battery", etc.
Ok, but be more specific - you're loading the image, controller was ON, and what's happend? All files were loaded with success or not?
Was it a proper image - the same size as the controller memory?
Hope it's not a mechanical damage. Is it hard to examine those harmonic reducers?
Shouldn't this case give other symptoms like strange noises, shuttering during move?
Harminic reducers in such a small robot are also small - so giving enough force it's possible to brake it.
When moving with the specific axes (JOINT, one after another) if any is broken, you should hear some noises, feel it shakes - put you hand on the robot and you should feel it.
Maybe the easiest way is to destroy the wall
Is it that the joint move is near the end point and is followed by a linear? Sometimes the error is not the current move , but the subsequent move. It is looking ahead and stopping the motion short with the fault.
It depends - if FINE at the end of the line, and run in step, it's connected to current move.
Let me know if succeded
Just curiosity - I was fighting 1000 times with such stupid issues
i only get 53 volts coming out of cp1, even when i test directly at the outlet where cp1 plugs into the transformer (under where the estop plugs in labelled OUT) still 53
There could be a problem with the transformer. If I had one, I'd swap it and check again CP1, before connecting it to PSU.
And if without load, 200VAC to PSU is present - swap again PSU to working one
If not, I'd say the problem is with the transformer.
so how would i check the transformer? I think we have a few extras I could try but they have been sitting in storage for awhile so if i could know a way to check them before dropping them in that would be great
I'd personally disconnect CP1 from PSU and check the voltage inside - mind it's AC and could be high, so carefully
Of course from the cables and plug side