I have a 210F 30iA Fanuc that I have to contantly reteach because when the robot gets an estop it throws jt. 6 off. I have to remaster joint 6 everytime operators kill the line. Is there any way to make the robot soft stop when an estop is pressed instead of using applying the brakes immediatly? Please help!!
Need help on a soft stop!!!
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rpg2007 -
June 18, 2013 at 4:00 PM -
Thread is marked as Resolved.
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It is possible if you have the Stop type set option. This is an additional software function that needs to be loaded, in order to be able to set the stop pattern to C type. This gives you a controlled stop when E-stop and external E-stop are used in AUTO. Please do remind that the stopping distance is longer.
All those E-stops are very bad for the robot reducers. Talk to the operators, and let them performe a controlled stop of the installation. Don't use E-stop, unless its an emergency.
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Thank you. They are not stopping the line by an estop they just can't seem to stay out of the light curtain so DCS will kill the robot out.
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RPG,
You could set the DCS stop to a controlled stop. You might want to expand your zones to give it more room to stop. -
I agree with the Dr.... But, I think there is an underlying issue here.. If you are having to re-master an axis on an R2000 there are major issues with the wrist or tooling that is mounted... The only time you re-master is when you physically change out a component (Or unplug things)... Double check your tooling mount, make sure the dowel pins are in the mount. If there are no pins you will be constantly chasing the positions (This is no good... Robot guys are suposed to be lazy)