Hello I'm currently working on a Arc welding robot 120ic with controller R30ib
Keep getting a collision fault on same position(after start to move from home position). but it doesn't hit anything. There are three welding positions and it always happens before the first one when it moves from the home position never any other time.
Reduced motion and collision sensitivity and that didnt help, I always have collision fault sometime throughout the day.
I tried to adjust payload and disturbance allowance.
Any help that can be given would be greatly appreciated. The robot moves from home into the first weld position and about half way through it drops out of auto and shows a fault "Collision detect alarm G:1 A:3" or "Move error excess G:1 A:6"
Arc welding robot 120ic with controller R30ib Collision
- srjd
- Thread is marked as Resolved.
-
-
What is collision sensitivity set to?
Can you slow down the move from home?
Is the termination Fine or Continuous?
Post a video of the robot moving from Home and the first point and also the program code. -
Hello, I have the collision sensitivity back at 100% as it was altered before for some trial and error and that did not seem to work, The part of the code where I receive the collision fault is between lines 16-19
14:J PR[3:WELD TABLE PERCH] 80% CNT100 ;
15: ;
16:J P[1] 80% CNT25 ;
17: ;
18: COL GUARD ADJUST GP2:100 ;
19: ;
20:L P[2] 500mm/sec FINE
: Weld Start E2[1,1,E0] ;
21: Weave Circle[2] ;
22:L P[3] 5.0sec FINE INC
: Weld End E2[1,2] ; -
Are you using an auxiliary axis like a positioner with both groups in the same program? I have had this issue if you try to move one or the other to far and the other group cannot keep up. moving the positioner into position and then moving the robot to the positioner can eliminate this.
-
I don't see where you are changing the collision sensitivity for the robot.
What is happening between PR3 and P1?
Draconis437 is right, move the positioner separately then move the robot to it.
Create an account or sign in to comment
You need to be a member in order to leave a comment