Sony SRX-611 emergency stop 4

[niko08]

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.

 

[electicpeter]

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 !

 

[tnlaw]

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?

 

[tnlaw]

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!!

 

[electicpeter]

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 !

 

[tnlaw]

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?

 

[electicpeter]

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?

 

[PiotrOrlik]

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.

 

[electicpeter]

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.

 

[niko08]

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?

 

[PiotrOrlik]

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

 

[niko08]

Thanks for your help.