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PR[] giving SRVO-021 / SRVO-023 alarm

  • Jeepster95
  • March 5, 2014 at 12:57 AM
  • Thread is Resolved
  • Jeepster95
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    • March 5, 2014 at 12:57 AM
    • #1

    Hi,

    I have a program that I was using PR[2] as the last position before calling my reamer routine. Like clock work as the arm was swinging from the PR[2] point to the first point in the reamer routine I would get the following alarms:

    SRVO-023 G:3 A:1 - G:3 is my other positioner that is not being used for at this point.
    SRVO-053 G:1 A:1 - Robot arm
    SRVO-021 G:2 A:1 - G:2 is the positioner the arm is just leaving to go to the reamer.

    Due to the SRVO-023 and SRVO-021 alarms the arm stops and goes into alarm. I can clear it with the reset and cycle start and the robot continues on it merry way. At no other time in the whole 14 min cycle do these alarms come up even thou I move the positioners several times during the cycle.

    My solution, I changed the instance of PR[2] to CALL HOME ZONE 2 (This program just sends the robot the a home position for positioner 2, it also happens to be the same point I programed PR[2] to.)

    Now my program runs fine no alarms nothing. I understand I found a fix for this, but I was wondering if anyone out there knows how / why I had the issue with my original code?

    Cheers,
    Geoff

  • locobot
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    • March 5, 2014 at 3:28 PM
    • #2

    My money is on the power or brake cables. Probably group 3 axis 1.

  • Racermike123
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    • March 5, 2014 at 4:41 PM
    • #3

    Jeepster can you copy and paste the lines from your program where these points are. This may be a termination issue. ie you need to terminate this point with fine motion not continuous.

  • Jeepster95
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    • March 5, 2014 at 8:56 PM
    • #4

    @Racermike,

    I wrote over the old code with the issue, but I can get you the new code.

    You mention terminating the movement with fine motion, ie P[100] 100% FINE instead of P[100] 100% CNT100? I assume you would mean to do this for the last point in the program and not all of the points.

    locobot,

    I thought it might be a cable or amplifier at first, but once I noticed the alarm kept happening in the exact same location in the program each time and the cables are routed with in the cell to not get damaged or moved this lead away from a cable issue. And now with the new code I have run 20 cycles without error, this confirms the coding issue.

  • Racermike123
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    • March 5, 2014 at 9:27 PM
    • #5

    That is the same thing I was thinking. I have seen a lot of goofy problems with positioners and the use of continuous motion.
    So then yes use a fine termination for that last point.
    let me give an example
    with the use of an local stop.
    if you call for the local stop to apply and the motion statement before that call is continuous, the robot will still be moving as the contactor is opening.

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