Denford Software & Machines

Hi,
My name is Abdur Rehman and i am Senior Student of College of E & ME
We have Automation Lab Where Robotic Arm are Installed.
Model of Robotic Arm is RV-2AJ-S12.
We are facing a serious Issue with Robotic Arm.
When we start it then it constantly Generates Alarm Signal H0050 and H5000. With ref to troubleshooting manual i found that reason of this error is ext emg input but this not the case. i have double checked that emergency are off. Can You Please Help Us To troubleshoot the Machine To Get it in Working Condition as Soon as Possible.
We will be thankful to you.
Regards
Abdur Rehman

How have you checked the emergency stop signal ?
You'd need to get right to the back of the connector on the Robot itself with a voltmeter to make sure there are no broken wires or loose connections.

Are you running the RV2AJ in a Denford CIM system ?

yes
We have denford Lathe , Milling and ASRS installed

Have you got power on to the Interface modules (Grey boxes) that sit under the computer monitors? Also you need to run IO manager and Interlock manager on the CIM software.

EMERGENCY STOP
1. Turn ON the rear switch on the Emergency Stop Box.
2. Ensure the main Emergency Stop button is in its OUT position. (Situated on top the Emergency Stop Box)
3. Turn the CIM system MODE key switch to the SET UP position (i.e. Mutes the Light Barrier out of the Emergency stop line giving free access to individual machines if one is fitted)
4. Turn ON the Host/Cell & Cell controller computers.
5. Run the "Interlock Manager" and "I/O Manager" programs on both computers
6. Check that both the RED Emergency Stop and GREEN System Enable LED's are illuminated on both Interface Modules.
7. Ensure that compressed air supply to all machines is ON to all associated machines.

Hi,
Thank you for helping me out.
Good News is
The alarm signal H0050 has been resolved but
Bad News is
I am facing alarm signal
C1332 & C1336
in manual this error is describe as follow.
C133* Error Message Encoder Battery Low.
Cause The Battery Voltage Supplied to the Position Detector Dropped.
Measure
Replace the Backup Battery..



BTW more than once error signal 7520 had occurred.
Which is meant that battery consumption time is nearly over.

So if I had to change the battery i have to move robot in J2=-20, J3=90, J5=90
But

When I reset the error and tried to turn on the SERVO by Pressing Jog Button under teach Pendent, Servo does't Turn On.
Kindly Help me Out to Solve this issue.
Regards
Khawaja

These are some old notes i found

Mitsubishi RV-E2 Battery Replacement

Once you have replaced the 1 battery in the RV-E2 Robot Controller and the 5 batteries in the RV-E2 itself. You now have to go through the following procedure in the following order :-

1. “Z” Phase resetting
2. “Origin” resetting
3. “Battery Counter Reset”

Check out page 5-45 in the Maintenance and Inspection Procedures section in the RV-2AJ Instruction Manual for battery removal and replacement.

Note!!! the Batteries can be bought in the electrical and electronic district of Rawalpindi

Thank you very much for help.
Is it necessary that if I change batteries of robotic arm in shoulder then I must have to change battery of controller?
I don't know exact model of battery in controller and also don't know how to replace controllers battery.
Model Of Batteries in Shoulder I bought is Er14250.
I read in manual how to replace battery in Shoulder but I cannot find how to change battery of Controller.
Kindly Let me know how to replace the battery in Controller.
Regards

These are the battery type

http://batteryguy.com/batteries-for-mit ... roller.php

Hi,
Thanks for Your Kind Help.
I haven't Change batteries yet. i Want to clarify some doubts.
So When I Move any Joint By Pressing Deadman handle + Step/Move + any Joint Move
What it display is
J1 (*****)
J2 (*****)
J3 (*****)
J4 (*****)
J5 (*****)
Does it is just because of Low battery power in controller.
I Tried to run a program it gave me alarm signal That means origin not set.
so i went to manual and tried to set the origin, after entering values it is not setting its origin.
Its says then orgin values entered are incorrect.

We have Two Robotic Arms and Both Have same problem.
Both shows error 1126 in the start and then 1332 and then 1336
But One of them shows error 7520 in start but other doesn't.
Should i have to replace both batteries for both Arms
Regards

I think you definitely need to change ALL the batteries first of all. I think maybe some of the error messages will disappear when you have fitted them.

How to save important program and position data in pc as mentioned in last fig....??

For ORIGIN SETTING: -
“Robot Arm Set Up and Maintenance” manual page 2-14
1. Put in the individual ORIGIN VALUES that come with each
Robot into the controller
2. From Teach Pendant select the following sequence
MENU
5. MAINT
4. ORIGIN
1. DATA
1. EXECUTE
INP/EXE Button the turn OFF Servo’s
<DATA> D( D )
1: J1 J2
3: J3 J4
5: J5 J6
After inputting all the data press INP Button and the Origin
confirmation screen will appear
1. EXECUTE
Press 1 and INP Button to end the origin setting operation

Running ROBCOMMS with a RV-2AJ
A. When all the PARAMETERS have been changed turn the Robot
controller OFF and then ON again
B. Teach pendant Keyswitch to OFF
C. Robot Controller Keyswitch to AUTO (EXT)
D. If you get ERROR L6020 “Operation Disabled” make sure A, B
and C have been done above
E. If you get ERROR L2000 “SERVO IS OFF”, just send a RESET
to the Robot and the SERVOS should click ON

Hi,
Thank You for your kind help
I have replaced batteries, but an issue has been raised after setting origin.
when I enter data as prescribed in manual setup and maintenance... pg 2-15

<DATA>D(V!%S29)
1:A@B&8F G#$Y5#
3:H+7%2H B="!1L
5:59A37! K8#&6P


it raise an error alarm message incorrect data input...
then I put some origin data values as
<DATA> D (0AT#W3)
1: (0J5$6Q) (XOU00D)
3: (005B0D) (------------)
5: (001%J9) (0M21U7)
it accepted these values

but joint angles were shown j1 showed value 27000
and J2 showed -23000
now joint angles J1 and J2 moves only in one direction...
kindly help me
regards

Hi, Don't forget you have 2 x RV-2AJ robots, are you inputting the right data in the right robot ? I think the origin setting data was on labels stuck onto the robot control box.

I could't find any label on which origin settings are written
Where it should be located, How can I restore orign settings if there is no label on controller?
I put same settings as below
<DATA> D (0AT#W3)
1: (0J5$6Q) (XOU00D)
3: (005B0D) (------------)
5: (001%J9) (0M21U7)

FYI I just put same settings on both robots, both robots are having same problem..
Figures attached.

I found the origin data sheet....
I put them in maint-->origin--> data..
but it gave me same problem...
now J1 is working fine but J2 and J3 is not working
as far as Jig is concerned I observed that Third option in Maint-->origin--> which should be Jig is showing me -->tool
so Instead of maint--> origin-->jig
its showing Maint--origin- tool

Figures attached....

What is z phase resetting?
How could I carry that?