Hi guys,
I've been working on a robot which has been installed on a plant in which the winter temperature gets as low as 5-6°C and this creates some issues, such as some overtorque alarms.
To overcome this, we implemented a "heating cycle" which is a dedicated set of movements performed initially at slow speed and then the speed gradually ramps up using the $OV_PRO.
But we still sometimes get the alarm "KSS26010 Ackn current overload after 60.0s (A4) (HoldingCurrent)" at the very beginning of the heating cycle, in which the $OV_PRO is 3.
Obviously, when temperature rises avove 15°C we do not get any alarms.
How do you usually deal with very cold enviroments?
FIY, this is my "heating cycle":
max_axis_temp() is a function which returns the maximum temperature among the 6 motors.
I know this is not related to gearbox temperature...
BAS (#INITMOV,0 )
BAS (#vel_ptp,70)
BAS (#acc_ptp,100)
cnt=0
PTP HOME_POSITION
$ov_pro=5
PTP {A5 0}
WHILE (cnt<90) AND (max_axis_temp()<37)
$OV_PRO=MIN(3+cnt,100)
PTP {A1 5, A2 -153, A3 130, A4 100, A6 -100}
PTP {A1 -5, A2 -150, A3 125, A4 -100, A6 100}
cnt=cnt+1
ENDWHILE
$OV_PRO=100
PTP HOME_POSITION
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