hello to everyone!
who have seen this alarm?
happens when the robot is moving
not all cycles
not the same movement
one or two times per hour.
the controller is a DX100 and the version is 3:00
thanks
hello to everyone!
who have seen this alarm?
happens when the robot is moving
not all cycles
not the same movement
one or two times per hour.
the controller is a DX100 and the version is 3:00
thanks
do you have variable calculations? maybe is from this
no ... the error occurs on the motion istructions
there are not other active tasks
after putting pl = 3 up on all the positions that they did not have the pl tag,the problem is solved
?????
Il subcode qual'è? (Ad esempio 4400 [1]). In genere quando accade frequentemente la motoman ti chiede di salvargli il cmos.bin per controllare, è possibile che si sia corrotto il file.
(Mi pare che tu sia italiano se no dimmelo che riposto in inglese).
Ciao,
si sono italiano, il sottocodice è 1
4400,NOT READY (ARITH),,[1],,TASK#0...
qui accadeva frequenemente su piu' programmi e piu' robot...
avendo messo il pl su tutti i movimenti il problema è risolto, secondo me è un problema di interpolazione tra joint e lineare
esempio con problema:
MOVJ VJ=100.00
MOVL V=1000.0 FINE=3
esempio senza problema:
MOVJ VJ=100.00 PL=3
MOVL V=1000.0 FINE=3
succede solo con il dx100 e solo con alcune versioni, l nx100 non aveva questo prolema
@secondo me è un problema di interpolazione tra joint e lineare
Per la motoman l'errore 4400 [1] è:
the arithmetic process for motion control did not complete within regulated time. No motion control was prepared.
Sembrerebbe una questione di tempo e di velocità , hai provato oltre alla PL ad abbassare le velocità.
Interessantissima la soluzione che ti fornisce il manuale: reset the alarm and try again !!!!!!!!
alessandro
ciao
Few notes on your issue
1)This one is personal, but it doesn't make sense to me to move the robot at 100% speed and ask to go by a point with PL=3
Normally when using a J motion at that speed I let the robot do it by itself without forcing its algorithm
2) Did you try another PL ? Maybe the value on PL3 is corrupted or wrong. You can change them ( i don't remember the parameter)
3) Seems to me that you are approaching a pick/drop point, why don't you try
MOVJ VJ=100.00
MOVL V=1500.0 PL=1
MOVL V=1000.0 FINE=3
4) This doesn't happen all the time ? are you running something in the background ?
5) Are you moving close to a singularity point or you payload varies ? Just a bit of repeatability might affect the math. Just think that one of the measurements on the robot is 0.0001, it takes "nothing" to read 0.0000 but it could make a big difference on a equation
S1C1G 033 through 40 are the parameters for PL 1 through 8 if you want to try to customize them....
I would tend to agree that it could be singularity.... or that the robot could be out at the full extent of it's reach.
Hello
this alarm occurs when process is not completed within segment clock
Increase (add more 4) segment clock s1d258
We have seen the same alarm on one robot, with no apparent cause and at different positions in the program. I am sure the robot was not close to singularity. Controller version is also 3.00. There are 10 robots doing the same program and 1 of them has the problem. Motoman advised to change S1D262.
Doesn't anyone else have alarm 4400 with version 3.00?
I have seen only on version 3.00
at different positions in the program
the robot was not close to singularity
i have try different PL, but i have this problem only without PL
the problem doesn't happen all the time
why happens this problem 2 times per hour?
the trajectory is always the same, I should have this problem or always, or never....