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Sony SRX-611 emergency stop
4

Sony SRX-611 emergency stop

Sony SRX-611 emergency stop

(OP)
We got one used Sony SRX-611 robot and now we are trying to start up it first time (no experience with sony).

It's not possible to turn servos on. It says "controller accepted emergency stop" or something like that. Should there be any other external E-stop buttons than in the teach pendant. What is the "Safety con" connector in the controller? There is nothing connected to that.

We didn't get any manuals with robot. Please let me know if you some manuals in pdf-format or other.

Thank you for help.

RE: Sony SRX-611 emergency stop

Most likely there is an multi-pin electrical connector on the controller.  There will be at least one pair of pins that must be connected electrically to close the e-stop circuit.  Once closed, you will be able to enable power to servos.

You'll need the controller manuals.  You might try www.robot-forum.com , also try used robot dealers who may have manuals.

TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering
www.bluetechnik.com

RE: Sony SRX-611 emergency stop

2
niko08,you need to connect or short the e-stop pins on the safety connector. Pins 1 thru 4 and 9 thru 13.Pins 1&2,3&4 are e-stops. Pins 9 thru 13 are safety barrier inputs.Each group (1-4 and 9-13)can be shorted together for testing.

RE: Sony SRX-611 emergency stop

(OP)
Thanks for help. Now I have passed the e-stop problem but still I'm not able move robot. After trying to put servos on I got error message something like "AMP voltage error".

I realized that those 2 batteries in the controller are empty. Replacing them with new ones didn't solve the problem. Should I do encoder reset? How?

I haven't yet received any manuals. I tried posting to Robot-forum.

RE: Sony SRX-611 emergency stop

niko08, Is there a error number displayed as well? I assu me you are using a Teach Pendant and get the error when you attempt to turn the servo on?

RE: Sony SRX-611 emergency stop

(OP)
tnlaw: Yes there is also a error number. I'll check it.

I succeeded to reach one guy who sends the manuals.

RE: Sony SRX-611 emergency stop

(OP)
Now I have the manual, but that didn't help me to  solve  the problem. It's E342 "AMP Main power error". As countermeasure we have checked the robot controller's power line. It seemed to be within 10% of standard voltage.

 

RE: Sony SRX-611 emergency stop

niko08,E342 is very misleading...double check wiring of all safety inputs. You can get that message when there is a problem with the safety connections in the back. EMS(0-3) must be made at the same time. Any interuption there will give you this message. Also, make certain pins 9,12,13 are connected together as well.

RE: Sony SRX-611 emergency stop

(OP)
tnlaw: I connected pins 1-4 together and also pins 9-13. Still the same error.

RE: Sony SRX-611 emergency stop

niko08, Are there any other errors in the error history file that occur at the same time? Sometimes a task file might look for user inputs (input connector in back) and in their absence do an e-stop condition shutdown. The error history file may point you to the missing input.

RE: Sony SRX-611 emergency stop

niko08, One more thing...did you check Fuse1 on the safety connector board? If it's blown the controller will not "see" the input.

RE: Sony SRX-611 emergency stop

(OP)
tnlaw: I haven't yet checked the error history. How do I reset/clear task file? The fuse is ok.

RE: Sony SRX-611 emergency stop

(OP)
Now I got this Sony to work! A wrong wiring in the safety connector was blown the fuse. When the fuse was ok, the safety con wasn't, and then vice versa...

tnlaw: Thank you for help!

RE: Sony SRX-611 emergency stop

Hello niko08. What did you mean by "A wrong wiring in the safety connector was blown the fuse"? I have the same problem that you had (I connected pins 1-4 and 9-13 together and I received E342). I also got the fuse blown as well. Could you  tell me what you had done to make it work? Did you actually short the above mentioned pins? What did you do not to blow the fuse?

RE: Sony SRX-611 emergency stop

OK, I solved the problem. I wired the pins 1-2 and 3-4 separately. If you wire all the four together it will cause the F1 fuse blow.

RE: Sony SRX-611 emergency stop

Hello,

I have also some used Sony SRX 611 but no manual and I am looking for the programming software. Where can I get it?

Thanks for help !   

RE: Sony SRX-611 emergency stop

Hello,

You should contact with Mr Wolf from Germany. He works for company Janomeie witch overtake Sony Robotics

His e-mail:
wolf@janomeie-europe.de

RE: Sony SRX-611 emergency stop

now i have another problem...
i still get the message "home returning is not executed" after the robot did a home return.
hope u can help me again.

Thanks

RE: Sony SRX-611 emergency stop

each axis has a sensor that detects home position as well as absolute encoder feedback. you might want to check each sensor.use the diagnostics menu, goto sensor& CNT screen and examine the values listed for "H", it should be displayed when "on" for each axis.If you do not see it displayed for a particular axis there may be your problem.

RE: Sony SRX-611 emergency stop

Hello,
thank you for your answer. Perhaps you can help me again. After controlling all the facs my problem remains. I have tested a few robots I bought and all of them have the same problem :
When home return is finished, the robot allways stops at X= 195556, Y=166667, Z=6000, R=0, no Error, when I try to move others than a singe axis I get still the message "home return is not executed"
After this procedure I can switch off without moving the posttion, cut the feedback cable for a moment and switch on again. The encoder shows the right values (the values marked on the robot).  

Does anybody understand ?
(the bios batteries are changed and new.)

Thanks a lot !
 


 

RE: Sony SRX-611 emergency stop

It sounds as if someone has altered the factory Home Position settings...perhaps they were changed so special tooling would not be impacted during homing sequence. What SRX model do you have?

RE: Sony SRX-611 emergency stop

Still continuing with the original thought...are you certain the sensors on each axis (not the encoders) are functioning in the home position? The home position sensors if moved will change the final home position.You would need to compare your encoder readings@home and verification of the home senors with another SRX with the same robot model.If the senors have moved then it would stop the robot homing at a location different from the software defined home. Just a thought!!

RE: Sony SRX-611 emergency stop

The Model is a SRX C61 Robot. I tryed the home return with different robots; allways the same result. Same values at home position. (195556 ...) Is there a factory programmed position that remains if the the batteries are down ?
Even if I change the home position values in the system menue and move one of then sensors, the stop position changes but the stop values rest (195556...).
Then disconnecting shortly the feedback, the values of the system menue are here.  Very strange !   

RE: Sony SRX-611 emergency stop

My SRX C61 home positions are: X=-41.626, Y=598.033, Z= .017,R= 5.218. I don't understand how you could be so far off. Could you have a mismatched controller? SCARA robot using a Cartesian controller? Could this be possible? I assume you recently acquired the Sonys so how well do you know the history?

RE: Sony SRX-611 emergency stop

The values are sensor values not coordinates. The difference to the right values marked on the robot are not so big (x=195556 instead 205270) but I never get them directly afer home return. Only when I disconnect the feedback cable for a short time I get the orginal home.
For me that means the position is found, all home sensors are "H" but the controller dont accepts the found position.
Is it necessary to have any external signal for accepting the home position ? Normally a robot does not need system task or program for finding home ?

The robots I got were from a closed nokia factory. I dont think that the controllers were mixed. (They were delivered orginal cabled)  But it was a lot of network and others connected. Perhaps this could be the reason. The robots itself are in very good condition and I dont think there is a mecanical problem. Do you know a testing program for the machines?
     

RE: Sony SRX-611 emergency stop

Hello  
I am also owner of robots from closed Nokia factory. I think that you might have mechanical problem. Once I was looking information about servos in documentation and accidentally I noticed information that if someone take out motor from the arm("second" arm)  there is no possibility to set the home position and only people from service can do this with special tools. Maybe someone before you bought it had done it :/ .
"I dont think that the controllers were mixed" – there is no possibility to mix robot and controller. There is robot number and controller number on the nameplate and if you mix robot and controller it won't work. I had this problem and error occurred on the teach pendant.
My advice for you is to run system program and set +24V to input I40. Check the output L40 if it is set the home running is executing if it turn off the home position will be executed. Maybe it will help.
 

RE: Sony SRX-611 emergency stop

Thanks for your answer,
system programm works, it is possible to start the home return squence with L40. But when it is finished (without error) I have the above written problem. Especially the wrong stop values are strange. Where do they come from ?
I examined the .ctr file with hex edit and it does not include theses values. Only the right home position can be found. And every robot I have stops at same wrong position.

RE: Sony SRX-611 emergency stop

(OP)
That system program is a little strange for me. Recently I succeeded to run program in auto mode but I can't start the program again after the first cycle has ended. I need manually to move cursor back to the begin of system program and after that I'm able run program again.

Should there be some kind of loop in the system program or something else? How do I edit system program?

RE: Sony SRX-611 emergency stop

Hello
First of all you have to write you own system program. It is almost the same which gave sony but you have to add your procedure:

I1ON
I =1
END

Then task program should look like this:

INT:I

WHILE    I=0
 
            CODE

ENDW
 
I hope it will help you
 

RE: Sony SRX-611 emergency stop

(OP)
Thanks for your help.

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