Hi.
Got a small problem with one robot( S4+ irb7600), it stops in the middle of a movement (no faults,alarms nothing at all)
the robot search for a part to pick up and when it finds one end of the part it searches for the other end from the opposit direction.
and then it calculate it with this:
tempValue:=Abs(pP1.trans.y-pP2.trans.y);
nMeasY:=Round(tempValue);
and then it does this:
calculatedY:=(nMeasY/2);
IF DI12_1=1 bFoundpart:=TRUE;
WaitTime\InPos,0.2;
!
IF bFoundpart=TRUE THEN
!
pPart:=CRobT(\Tool:=tPartGrip\WObj:=objInbana);
WaitTime\InPos,0.2;
!
pPart.trans.x:=1260;
!
IF nType>3 pPart.trans.z:=(nPartLayer*176)-nSearchHight-176+nHight;
IF nType<4 pPart.trans.z:=(nPartLayer*176)-nSearchHight-176+nHight;
!
pPart.trans.y:=pPart.trans.y-nDistSenGrip+calculatedY;
!
MoveL RelTool(pPart,-50,0,0),v300,fine,tPartGrip\WObj:=objInbana; <---- Its when the robot is on its way to this position it suddenly stops without any alarms.
!
IF nType=13 AND nPartLayer=3 THEN
MoveL RelTool(pPart,-10,0,0),v50,fine,tPartGrip\WObj:=objInbana;
ELSE
MoveL RelTool(pPart,5,0,0),v50,fine,tPartGrip\WObj:=objInbana;
ENDIF
GripperClose;
All i have to/can do to get around this problem is to press the stopbutton on the teachpendant (PLC gives new startsignal continuously) and the robot starts moving and proceeds as normal.
This happens around 3-10 times per day and the robot picks around 160 parts each day so its pretty random, the parts lay in 3 layers and this happens on each layer and any part type..
Anyone who has the slightest idea? would be really greatfull if i found an answer to this anoying interrupt