Hi,
I have a AcrMate 120iB/10L with a R-J3iB controller.
My operator has come to me showing certain welds out of position but not all of them. I moved the robot to 0 deg all axis and noticed that J2 is out (scribe marks). I jog the robot so the marks are realigned and the position is J2 = -1.843 which in turn puts J3 at -1.939.
I ran my TCP Check program I have created and it is also out about 0.250" at origin. I also moved the wire back to where it should be and cycled J4, J5, and J6 (in world) and noticed the wire is not staying centered on the point.
I have not retaught anything at this point.
On this same robot I am getting the following errors:
SRVO-021 G:2 A:1 (Group 2 is a positioner)
SRVO-023 G:3 A:1 (Group 3 is also a positioner but not in use for this program)
SRVO-050 G:1 A:6 (Group 1 is the arm) This was caused by one of the cables going to the servo torch getting caught.
SRV0-171 G:2 A:1
If I follow all the above errors they seem to lead back to power to the servo amp board. I have yet to check the input voltage to the board.
My question is can any of the above or a combination of any of the above cause the arm to be out of master?
Any feedback would be great.
Cheers,
Geoff