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The conflict of Brake Number!

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Isa Gomez

Hello all,

My FANUC R900iB 700/R having an R30iB controller has suffered a huge crash. The motor of group 2 aux axis is affected. The motor is no more attached to the gear box now and entire cabling of the motors are unplugged at the moment. The cabling comprises of brakes, encoder, and power.

I am interested to move the robot to another position now for working purposes. As mentioned, motor is removed and I am seeing the faults of SRVO-069 and SRVO-068 which are related to the encoder.

I am able to disable the group 2 motion in its TESTING CYCLE screen which has cleared the alarms but another alarm is appearing, the braking issue; "SRV0-117 Brake Number Conflict".

Upon giving a reset tot he robot, it is going away for couple of seconds and then gets back to original position.

Am I going o be able to train the controller for brakes which may not exist and move it to group 1 axis?

Help me please!

 

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5 comments

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  • Avatar
    Laurence Price
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    Hey Isa,

    Is there any chance that you might be able to hook-up on the aux axis and tie it up out of the way just for clearing the alarm? After that you may be able to move your robot.

    I am having the robot with 2 motion groups which is now purposed as the temporary material handler and is only made fro bracket to hold the servo to allow and leave the plugged in. 

    However, I know that you have mentioned that it is broken the gear box in your case. It will work if the cable are not unplugged then my solution will work. Thank You

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    Frankie Ellis
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    Hi Isa, you can set the brake group to 0 and then the damaged group to that of the controlled start.

    Best of luck.

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  • Avatar
    Isa Gomez
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    It's an unfortunate news that the cables of motor are affected and damaged, in particular the connectors of brakes are ripped off from the motor.

    I have taken out the motor and shipped it for repairing, this is why I am not having one for hooking up right now.

    The groups of brake is appearing to be of exact nature as I am expecting.

    I have found that through going in to the controlled start menu but where I am going to find the "brake group setting".

    I am expecting some help, please help me pioneers of robotics.

     

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    Muhammad Ishaq
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    I would suggest you to take backup image at first priority.

    After taking backup you are suggested to make a controlled start through R30iB. The best way to go for it is through FCTN and then press 0 for next 8 cycles. While selecting other options and CRTL for the controlled start, once in each time through controlled start, press the MENU and then 9 for maintenance. This menu will enable you to make an adjustment with the settings of brakes. If this was my robot, then I would have deleted the axis for now and then restored it through the image backup once I have had required hardware and repaired the broken one. 

    When you have restored the backup image file and repairing of bad axis, you are expected to have several faults due to the robot being in different position. You are required to re-master the robot or just master the affected axis and then you can go to the system variables and then do "$DMRgroup", after that you are required to do "master_done" to "TRUE".

    This is the point where you can go back and make mastering and do calibration. Hope you understand what to do now?

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    Ezequielo Murillo
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    Hi Isa,

    Are you having DCS on the robot? If yes then you can assign a Zero Speed Zone on the Group 02, that is muted when the arm is in position to work with this groups.

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