Hey everybody,
We came across a very interesting scenario and I'm wondering if anybody has had any experience with this.
I was working on some code for a Kawasaki CP180L 4-axis robot. First run, so initially, I wanted to step through the code to ensure the movements did not collide with anything and there were no errors. The teach pendant was in repeat mode, movement speed 20% and STEP ONCE was ON.
On one particular move, the robot accelerated at a huge speed, to a random location and halted sudenly once it exceeeded its set working zone. The interia was enough to move the entire steel pillars beneath it by about 500mm. I'm sure if the pillars weren't there it would've tipped the entire robot over.
The log spat out the following:
"(E1339)[MC1]P-N high voltage.(Servo board1)"
"(E1124)Deviation error of Jt 1."
After the adrenaline subsided, we continued the code to determine what had happened and the robot moved to its intended position.
I am not sure why this occured, how it occured and we weren't able to repeat it.
Has anybody experienced any high speed, sudden movements and can give some insight as to why this occured?
Below is a screenshot of the errorlog file in which the move occured.
.ERRLOG
1 - [17/07/03 11:23:53 SIGNAL:00 MON.SPEED : 20 REPEAT mode]
(E1339)[MC1]P-N high voltage.(Servo board1)
OPERATION1:[17/07/03 11:23:52] ( STPNEXT 1: )
OPERATION2:[17/07/03 11:23:45] ( STPNEXT 1: )
OPERATION3:[17/07/03 11:23:23] ( HOLD->RUN )
OPERATION4:[17/07/03 11:23:21] ( STP_ONCE ON )
OPERATION5:[17/07/03 11:23:19] ( RUN->HOLD )
OPERATION6:[17/07/03 11:23:08] ( HOLD->RUN )
OPERATION7:[17/07/03 11:23:04] ( SIGNAL 7 )
OPERATION8:[17/07/03 11:22:55] ( RUN->HOLD )
OPERATION9:[17/07/03 11:22:42] ( STP_ONCE OFF )
ROBOT1:
PROGRAM:pick Step:51 Cur_Step:52 STATUS:RUN
Interpolation Type:LINEAR S_parameter:0.987163
Current Pose
JT1 JT2 JT3 JT4 JT5 JT6
-23.515 -2.787 -2.635 19.609 0.000 0.000
Command Pose
JT1 JT2 JT3 JT4 JT5 JT6
-0.213 -0.630 -0.291 0.742 0.000 0.000
End Pose
JT1 JT2 JT3 JT4 JT5 JT6
-98.873 2.732 -61.232 188.892 0.000 0.000
------------------------------------------------------------------------------
2 - [17/07/03 11:23:53 SIGNAL:00 MON.SPEED : 20 REPEAT mode]
(E1124)Deviation error of Jt 1.
OPERATION1:[17/07/03 11:23:52] ( STPNEXT 1: )
OPERATION2:[17/07/03 11:23:45] ( STPNEXT 1: )
OPERATION3:[17/07/03 11:23:23] ( HOLD->RUN )
OPERATION4:[17/07/03 11:23:21] ( STP_ONCE ON )
OPERATION5:[17/07/03 11:23:19] ( RUN->HOLD )
OPERATION6:[17/07/03 11:23:08] ( HOLD->RUN )
OPERATION7:[17/07/03 11:23:04] ( SIGNAL 7 )
OPERATION8:[17/07/03 11:22:55] ( RUN->HOLD )
OPERATION9:[17/07/03 11:22:42] ( STP_ONCE OFF )
ROBOT1:
PROGRAM:pick Step:51 Cur_Step:52 STATUS:RUN
Interpolation Type:LINEAR S_parameter:0.987163
Current Pose
JT1 JT2 JT3 JT4 JT5 JT6
-23.589 -2.815 -2.682 19.595 0.000 0.000
Command Pose
JT1 JT2 JT3 JT4 JT5 JT6
-0.212 -0.627 -0.290 0.737 0.000 0.000
End Pose
JT1 JT2 JT3 JT4 JT5 JT6
-98.873 2.732 -61.232 188.892 0.000 0.000