abb irb 2000 S3 robot problem

[Rob_erik]

1. Home position of the robot is out. It is out of position by about 90 degrees in one axis robot.

2. Position of the home robot has to indicate a (digital outputs) are zero.

3.Following instruction example: pos in 100% fine aweld 1/3/0/0 error message
  Weld 517 error - This robot is a manipulator not welding.

Is it urgent please help me

[Ztek]

Your first problem looks like you have to reset the counters. Run the robot manualy to the zero-marks on each axis. Then look at the joint coordinate values. Check if all axis is close to zero (within about +-0.5 degrees). Probably one or more axis is far away from zero. If it is more then one, then you probably have lost the zero index becours of a bad backup battery in the robot or long time without power. If it is just one axis then it could be some other hardware error in the encoder or something else in the mesuring system on the axis. Anyway, go to the "reset counters" or "zero counters" or something like that on the TP. I do not have a S3 manual here, so I cant help you with what button to press. Then reset the counters. If the problem was caused by a bad battery or long time without power, the robot will work fine again. If it was some hardware error then it will probably not work.

[onur_tr]

Hello,

My answer is especially your second wish :)

1) Press the manual button (finger sign on the teach pendant) and find "homepos" or something like that by pressing SCAN.

2) Define your home position to "homepos no.1" and connect it to output 1 for example.

It's done..

To check if homepos is set or not:

1) Move robot to somewhere.

2) Press Prog Start button (green button on the teach pendant).

3) Find homepos by pressing several times to SCAN.

4) Choose your homepos number (1).

5) Hold deadman switch and press ALIGN until robot reaches to the home position.

6) Look at the output 1 if it is ON or OFF. It should be ON.

Good luck.

Onur

[Rob_erik]

Ztec :
I can not find the button on the teach pendant (reset counters).
I do not know how to find joint coordinate values.

[Ztek]

As I do not operate any S3 systems any more I do not have any manuals. So I can only give you a hint what to look for in your manual.

[lvs]

are the offset values off the syncronisation correct (basic values)axis 1 to 6 ?