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Author Topic: Robots Aborting Mid-Program  (Read 675 times)
Professor_J
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« on: May 27, 2008, 11:24:52 PM »
We have some of our robots that are aborting their programs mid-cycle, when E-stops etc are pressed.. The robots are stationary at the time, and our production department do a check of every Emergency Stop button on the line. This seems to make two of our RJ-2 S-420iF robots abort their programs..

The only alarms in the error log are the ones below, that are to be expected. All of these are of severity "SERVO" and should only cause the program to be paused. However they are aborting..

Other robots on the same production line are fine, although most of these are RJ-3iB robots and/or they're at home/aborted anyway.

SRVO-004  Fence Open
SRVO-037  IMSTP input (Group 1)
SRVO-002  Teach Pendant E-Stop
SRVO-007  External Emerg. Stops.

Any ideas?
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Monsterke
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« Reply #1 on: May 28, 2008, 02:20:51 PM »
Do you have running a shell program??
Grtz,

Monsterke
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Professor_J
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« Reply #2 on: May 28, 2008, 10:43:29 PM »
Not sure what you mean by shell program but I don't think so.. The robots just run normal TP programs. Robot software is SpotTool..
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Vlad
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« Reply #3 on: May 29, 2008, 03:59:06 PM »
Prof,

if you have IMSTP, it seems you have a PLC which turn off the UI signals. Is it possible that the same PLC gives the CSTOPI input to the robot?

Regards,

Vlad
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Professor_J
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« Reply #4 on: May 29, 2008, 10:45:21 PM »
The configuration setting in the robot "CTSTOPI For Abort" is set to FALSE.. The PLC does control the CSTOPI Signal but it doesn't come on in this case, even if it did, with the above setting set to FALSE, the robot ignores it..
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Monsterke
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« Reply #5 on: June 16, 2008, 10:36:40 AM »
Quote from: Professor_J on May 28, 2008, 10:43:29 PM
Not sure what you mean by shell program but I don't think so.. The robots just run normal TP programs. Robot software is SpotTool..

I mean, that you maybe run a background program that is writin in "Karl" and that you can activate trough your variable $shell_cfg.$shell_name
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edbanks
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« Reply #6 on: June 20, 2008, 06:08:22 AM »
Sounds like you have a electrical problem in your safety circuit. Last time I ran into issues such as you describe, it was a bad pendant.
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Ed Banks
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Vlad
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« Reply #7 on: July 03, 2008, 04:07:50 PM »
Did you try with a good init start? you know, just to see if it is a sw problem or electrical problem.....
regards,
Vlad
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RJ3iBnR30iA
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« Reply #8 on: August 13, 2008, 06:17:38 PM »
I also think that it might be a SW problem. If you are sure that the Line PLC is not aborting the programs via UI signals.
Please check whether MENU-SYSTEM-CONFIG- RESTORE SELECTED PROGRAM is set to TRUE.
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