hi i have 2 questions if anyone can help me with (already search and ask tech support but no luck)
1) service mode, the system parameter manual mention that to change some system parameter you need to put robot in service mode? (tech support say never heard of that but i remember when i install the robot os, it ask for the standard or service robot i dont know is that what manual talking about)
2) i use fly by point with z200 (MoveL p10,v5000,z200,tGrip) but somehow it stop at some point?
abb s4c+ service mode and fly-bypoint question
- lunknowl
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(1) Service mode sounds vaguely familiar, , but I don't remember specifics. Fortunately, it's been a while since I "got" to load OS.
(2) A bit more context might be useful: Could you post some of the surrounding lines? Are you stepping through program, executing program, running in Auto...? -
for example: the program is moving p1 straight down p2, then move to the right p3, then straight down from p4, like a walk stair.
MoveL p1, v5000, z200, Tool1; (p2 down about 24 in)
MoveL p2, v5000, z200, Tool1; (p3 to right about 12 in)
MoveL p3, v5000, z200, Tool1; (p4 down about 3 in)
MoveL p4, v5000, z200, Tool1;
MoveL p3, v5000, z200, Tool1; (go reverse to get out)
MoveL p2, v5000, z200, Tool1;i can see from point to point it have a radius but not much (is that because robot is close to limit? it was running same as slow speed like 25%)
is there like a system parameter to check for that? like query time, path resolution? -
Can you see a "Corner path failure" warning in your motion event logs? It should tell you what module, proc and line number is the cause. Also, what robot type/capacity vs. your actual payloads. Tool, gripper + Part, if any.
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i use 6400 robot with s4c controller. i dont see any "corner path failure" warning. it pause at end of all the motion. really everything is working fine but it seem to be weird because im using zone point but it still paused like fine point. the robot motion jerk (robot move and rotate fifth axis at the same time) so im thinking that robot have some system parameter that check how accurate before it move?
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It is possible to turn off the corner path warning in the system parameters, I should have thought to have you check for that...still wondering if your robot is near its capacity limit.
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Hopefully this will help....
1. Service mode is only used when rebuilding the controller. It allows for the user to modify a heap of parameters for controller and manipulator options. You cannot go back to this mode unless you re-load the system via floppy (or USB conversion kit) with s4c controller.
2. generally with zoned / cornering moves the move length needs to be larger than the zoned. i.e. if you have a z200 move instruction, the length of the move needs to be greater than 200mm so the robot can take the corner at a radius of 200mm. If the move instruction only moves the TCP less than 200 mm, then the point will become a fine point, and the robot will stop at that point as you are seeing. Maybe try and reduce to z20 and see if that helps. Then increase the zone value to achieve a nice smooth motion.Rod.
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for #2 question i already try different zone value like z20, z80, z120 but it still paused every move. it seem like it paused whenever it moving 5th or 6th axis so im thinking is there like a system parameter to check for that.(supervision on s4c+ but on the s4c controller dont have that option) thanks
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This is a shot in the dark for Question #2, but I notice that your velocity is set to v5000. I've heard of undesirable behavior when velocity is set too high on small movements (such as your 12 inch and 3 inch movements, where the acceleration and the braking of the movements end up fighting each other and giving poor motion.
Could you try setting your velocity to, say v100, to see if movements smooth out?
If you do find that it appears to be smoother, you can log the tcp speed with the robot studio signal analyzer, and find how fast the robot is actually getting, then set your velocity to a more appropriate setting.
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Since we are shooting in the dark for question #2, here's another:
Could you have an early revision of software were this is a problem?
Rev.53 has much of the issues fixed that may happen in Rev.04.and another:
When I start running out of options, I'll reload software just to rule out a glitch. Sometimes it works but other times it simply rules that out so you can concentrate on other possibilities.and another:
Try changing some of the MoveL instructions to MoveJ and see if anything changes.
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