Scenario

In order to support eCobra models, eV+ versions 2.3C14 and 2.1E1 were released to support newer motors. Ordinarily the robot nameplate will provide information on the robot series, where the motors are known from robot manufacture. 

For legacy cobra robots that may have had motor upgrades as part of maintenance activity, in order to identify what motor types are present, we can check Opcode 1200 (“encoder type”). This parameter is automatically identified by eV+ servo code communicating with each motor and allows V+ and eV+ to load the correct motor parameters during boot up. This is important information to share with your OMRON service contact as part of remote troubleshooting.

Cobra robots typically have a special case on joint 4 due to the secondary high-resolution incremental encoder. Cobra600 and Cobra800 robots can return the following values for opcode 1200:

Robot Series	OPCODE 1200
iCobra / sCobra	11
eCobra	14
Incremental Encoder (Joint 4)	1

Solution

The steps to check opcode 1200 using ACE are shown below. The high-resolution encoder is typically enabled and needs disabling temporarily to view the motor encoder type. Please pass this information to your OMRON service contact. This can only be done via trained service personnel so is not included in this document: