Hi guys,
I am setting up a tool on a 6400R 2.8/200 with IRC5 controller RW 6.02. I ran the load identify for the tool and that worked great. The tool I have is 58" from the center of axis 6 to the center of the gripper. The tool itself roughly weighs 70 kg at most, the robot calculated it to be 115kg. With all that being done and the TCP being taught I tried to run the payload identify. With all the settings selected as asked, I start moving robot in slow speed in manual mode and when I get to the second test point it kicks out axis 6. It almost acts as if the brake is released. I can move 6 by hand. The error that comes up is Joint load too high #50055. Actual torque on Rob1_6 too high. Might be caused by incorrect load data, to high acceleration, high external process forces, low temp or hardware error. Fixes ---- check load data, -----reduce acceleration or speed, -----check hardware. Has anybody seen anything like this before? Not sure if there is a static or friction setting that has to be adjusted or if I just have too much weight on axis 6. Thanks for reading and any help!
payload identify
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kickdrumcurtis -
December 29, 2015 at 12:58 PM -
Thread is marked as Resolved.
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What are the coordinate of center of gravety? Look at the X value
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Typical overload.
The COG is too far away from the flange-zero.
The 200kg is allowed at a maximum of ca. 250mm. The bigger the distance the lower the allowed weight. The only diagramm I found is in the attachement. -
Thank you Hermann for doing some digging on the subject. The help is much appreciated!
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Hello guys, recently I installed ABB 1600 (2013) version (it was second hand) for laser cutting. And it's give almost similar error 50055 joint load to high, i tried to decrease the speed up to V50, looks like it's working but this speed is too small for robot working in auto mode, moreover it's this error repeat some times,
Can you please guide me how can i fix this issue?
P.S. Please consider that I have installed new laser head (tool) and height controller and laser source. The workshop temperature is about 10 C and sometime below 10 C
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Hello guys, recently I installed ABB 1600 (2013) version (it was second hand) for laser cutting. And it's give almost similar error 50055 joint load to high, i tried to decrease the speed up to V50, looks like it's working but this speed is too small for robot working in auto mode, moreover it's this error repeat some times,
Can you please guide me how can i fix this issue?
P.S. Please consider that I have installed new laser head (tool) and height controller and laser source. The workshop temperature is about 10 C and sometime below 10 C
recommend IRB-1600 payload below 10kg.
Is that robot clearly define tooldata? (mass, inertia ... etc) -
recommend IRB-1600 payload below 10kg.
Is that robot clearly define tooldata? (mass, inertia ... etc)Hello saberlars, thanks for reply to me, that robot was already used before me so I think everything was defined, I just replaced some parts like a laser head (tool) and height controller and laser source that's all, I wanted to attached a picture to show you something but don't know how to do it here, when robot arrived I found one of motor cable plug was damage and found some oil leak, so maybe that reason is cause this alarm, this 50055 alarm occurs when it's working and also when i move it by joystick manually