You already tried 2 of the most likely causes. Make sure any nearby high current sources are properly ran and shielded. If crossing a high current line, try to do it at 90 deg. Make sure the robot-to-controller SMB and other cables do not parallel a high current cable, welding cable as an example. Make sure the connections related to the SMB in the controller are well seated and the Axis Controller and SafeMove units are mounted and not hanging loose.
Inspect the robot internal cable for damage coming from R1.SMB at the base up to the SMB unit. Verify the cause is still the 20477 error.Īre there any additional axes besides the 6 on the robot where a second SMB is being used?Īre the ground (earth) connections in the robot making good connection? These are the green/yellow wires at the back of the robot.
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