Lr Mate 100i Manual
Howdy all, The company I work for has obtained a Fanuc 100i LR Mate - High Speed robot as our second robot and I have been tasked with revving it. I got everything wired up and powered on - the teach pendant functions properly with the appropriate green LED on. I also have the red fault LED. To start with, initial alarms were MCTL-003 when I tried to jog the robot.
Looking in the alarm history I saw a SERVO-062/BZAL for each axis. After reading here and other robotics forums, I changed the batteries and performed the pulse coder reset. The SERVO-06/BZAL alarms are gone, and because I am a big dummy who didn't read enough and changed the batteries with the power off, only to be replaced with the SERVO-075 Alarm for each axis. As suggested here, I hit the reset button on the TP to clear the alarms, only to have them immediately reappear. So I still can't jog the robot to re-master it.
The door is closed, I don't see any other alarms in the history menu. The only thing that is catching my eye as weird is: When I jog the robot: Hold shift + Deadman, then press jog is the appropriate sequence However when I pull the deadman I get a SERVO-160 Panel/External E-Stop alarm. When I release the deadman, I get SERVO-003 DEADMAN RELEASED. How can the above sequence work if the deadman switch is also functioning as an e-stop? Could this be a setting from the previous owner?
How can I change the function of the deadman to allow me to job the robot - if this is in fact the issue? Going along with this, the E-Stop button on the panel does not cause any alarm codes to appear on the TP when pressed. Could there be something wired incorrectly internally?
Small desktop-bots aside, this is the first real robot I've gotten my hands on, so sorry for any rookie mistakes. Hello, So first of all welcome into the world of industrial robots:). To reset Pulse not established (SERVO-075) you need to move the robot in Joint more than one motor rotation.
Go to -50 to +50 on each axis to be sure, even more if you can, so that pulse coders can establish a position. To move the robot you must do: 1.
Press gently the Deadman switch and keep it pressed. Press Shift and keep it pressed. Press one time reset. Press on the axis and direction button (+J1, -J1 etc.) you want to move the robot. For SERVO-160 check the controller's E-STOP or it can be that the previous owner had an DI for external e-stop. Hello, So first of all welcome into the world of industrial robots:). To reset Pulse not established (SERVO-075) you need to move the robot in Joint more than one motor rotation.
Lr Mate 100i Manuale
Go to -50 to +50 on each axis to be sure, even more if you can, so that pulse coders can establish a position. To move the robot you must do: 1.
Lr Mate 100i Manual Do Mundo
Press gently the Deadman switch and keep it pressed. Press Shift and keep it pressed. Press one time reset. Press on the axis and direction button (+J1, -J1 etc.) you want to move the robot.
For SERVO-160 check the controller's E-STOP or it can be that the previous owner had an DI for external e-stop. Thank you for the response. I had tried to reset alarms with the deadman in the 1/2 pressed position with no change in alarm status. I will try again once I get the SERVO-160 issue straigtned out because, and correct me if I'm wrong, the SERVO-075 reset (manually jogging each axis 1 full motor revolution) will not be possible until the SERVO-160 alarm is gone.
Both E-stop buttons are released, on the TP and panel. The E-stop on the Panel has no effect that I can see - or at least it does not throw any alarms to the TP display. I will inspect the wiring for the panel E-stop button.