Hello all. I am working on a spot welding project for my job, and we are using four Fanuc R-2000iA 210F robots. There is a problem we have been having after a tip dress when using the wr_updat(1,0) program to do the wear down compensation. We only get it on one of the four robots. We get a SVGN-020 pressure shortage when it goes to do a press_motion[98] 80% of the time. There are a few times when it will randomly make it through fine, but most of the time, we get this error.
We have tried re-auto tuning the gun, as well as re-calibrating the pressure (We went from 5% to 45% torque when doing this). We brought in a nice pressure gauge that we know is very accurate to do this. We had to reload the robot with a backup image from one of the other robots a month ago too for other reasons, but that didn't fix the problem either. I have also tried to set up the two-step tip wear down program, but I just get an INTP-303 error when it tries to move from the first point to the second point. (This is from running tw_setup(1) after a fresh cap change).
Before we did the pressure re-calibration, we could manually put a 1 into the 98 pressure schedule for lbf when it would get the error and resume the program. It would get through it fine then. After the re-calibrations, we get a "pressure too low" error, and have to put a 100 in there. Also, we have tried putting new tips on, manually doing a gun zero master, and running the wr_setup(1) program.
This has been bugging us for months, and we are at a complete loss. If any of you have any ideas on how we could fix this, I would greatly appreciate it. Thanks!
