Abc over run?
Srdy off?
Axis faults?
All of the above and I ain't talking bout no backup
Help
Invisble CollisionsCrashes. Replace enough parts to buy a new not?
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RobotAymo -
October 11, 2017 at 8:00 AM -
Thread is marked as Resolved.
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Does anyone have advice on ABC overrun. This is a new fault on a robot 350 payload r30iA controller, every other week the robot will start getting collisions in mid air when ran at high speeds. If slowed down ran at 50% it will go away then boosted back to 100%we start getting random collisions on axis 4 5 6???
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I am also getting SRDY OFF ALARM ON all axis. I tried to recreate the payload schedule a fewtimes but it could not finish due to axis faults. I was able to get the IDEN to complete its calculation by setting high speed to 90 and accel at 25%
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Some times when the travel from one point to the next has too many axis movements at the same time to reach the next point without causing the collision error.
You may be able to add a few points before the spot that you get the errors. The points you add should align the axis to be more in line with the point where the error occurs.
You may get by with adding only one point if you have enough travel to the point that the error occurs from the last. When this happens to me, I just add points to split the axis
changes so that the robot does not basically whip itself into an error. The fact that you can avoid the error by slowing the speed makes me think this will be an easy fix. -
Check your collision guard. Should be 90-100% (120% is too sensitive for our applications) If the move is an Linear, consider changing it to a Joint. Also, look and see if the air moves are fine, might want to consider changing it to a cnt for a smoother point transition.
Hope this helps!
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Check your collision guard. Should be 90-100% (120% is too sensitive for our applications) If the move is an Linear, consider changing it to a Joint. Also, look and see if the air moves are fine, might want to consider changing it to a cnt for a smoother point transition.Hope this helps!
Yes i went through and smoothed out trajectories
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Would this happen to be an operator interfaced robot or one that gets e-stopped or fenced alot? I've seen an issue that causes idle cpu percentage to decrease over time when a robot is e-stopped or fenced a lot. It will start getting abc overrun faults and collision detects in mid air. Normally a cold start and reloading of the program will make it go away for a little while until the cpu percentage gets low enough again to cause the issue again.
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ChaAymGree:
Check your points for movements that cause any of this axis to abrupt change direction (this is the cause of the alarm)
Soemtimes when adding or touching up points the position looks ok
But during playback the axis moves in one direction then reverses at high speed causing this alarmsI just fixed one of the robots we have in the plant with similar issues.
If you already smoothed the program check for mechanical interferences
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Could be incorrect payload and inertia settings. Or payload-creep (initial settings now wrong due to increased payload mass, or EE mass due to replacing aluminum parts with steel, added equipment, etc.) The bigger the payload (and inertia settings), the slower the robot will be commanded to go by the motion profiler, and the more tolerant it will be to the load it is carrying with respect to Collision Guard. Setting Collision Guard sensitivity down to 80 or 90 for the moves with full payload might work, too. Both of these things should definitely be checked and tried first.
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ABC means Arm Bending Control. I received all of these errors when I was using collision skip programming without purchasing the option. For me, this was a BIG SOFTWARE ISSUE! I'm not positive, but it could also mean that you're having mechanical problems. But, the likelyhood of 3 axes going out at the same time is low. But, this robot the brake circuit may be for those 3 axes and not all 6.
It could also be bad payload information.
Reload the robot library. This will reload all of the servo parameters. Controlled start --> Menu --> Maintenance --> Run through the robot axes setup. Either choose manual or auto.
If this doesn't work, you will want to try reloading software entirely. But, remember, after you reload software, don't dump back in your old System variable files. Anything with Sys***.sv don't load.