Good day to all roboters out here. I am having trouble with an ABB irb1400 welding robot with m2000 controller erroring out during welds giving a joint speed error on axis 5. It will happen on a certain type of weld where the robot is stretched out pretty far. I have tried moving the arm in different position and have changed the weave parameters to try eliminate some possible causes. Question I have is this robot does not have proper arm loads and no COG so with the wire feeder mounted on top and the wiring somewhat supported off the back end of robot arm, could this be causing a problem when at farther reach and weaving? For it to be suggesting axis 5 everytime what are the options?
joint speed errors
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TillageBots -
April 23, 2018 at 5:42 PM -
Thread is marked as Resolved.
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Does this robot have the LoadID and ColDetect option (under MISC>Service>View>System Info>Product ID)?
If so, Special>6 - Call Service Routine should have the LoadIdentify routine.Maybe you already tried these. . .
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Een if you don't have LoadID and collision detect you should have the proper tool loads and arm loads. Also, if you can safely, and I stress, SAFELY, release the brakes and push axis five through its range of motions. It should move pretty smoothly, you will want to be feeling for binding or grinding maybe in certain spots. Could indicate a mechanical problem.
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This robot does not have loadID. So what would calculate the arm loads? Being the wire feed is mounted on top and cables off the back. Calculating the right amount of weight for arm loads. And as soon as it is out of producton for five minutes i am gonna work over axis five manually and safely i hope. Thanks for now.
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Do you have a spare feeder somewhere that you could weigh? You could take measurements from the Axis center (pivot point) to determine cog for the mass(in meters).
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I can get a weight off a spare feeder. i will definately give it a shot.
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Keep the load diagram in mind...
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Some speed errors happen when the motor reaches its max speed when trying to maintain TCP speed. An example would be a move with a short fast TCP distance but a lot of axis 5 movement. If this is the case, find the move where this is occurring and try rotating the nozzle (tool coord, reorient z assuming you have a good TCP) at the start and finish points of the offending move to lessen the amount of travel of axis 5.
Setting the proper load values will allow the robot to better calculate collisions and give proper accel/decel values that will save wear-n-tear on the robot.
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Thanks for the help. changed the arm load manually. might have had the load weight to low. At the same time i did do alot of smoothening out of the movements in the problem area of routine. seems to be working ok as of now but have to get back into production to see if it will work happy in all routines.