Hello,
I want to know what should be axes limits to be sure, that robot won't get in any inappropriate position.
Last time I was jogging and suddenly the robot stopped without any information about approaching the limit and weird error appeared at TP - SRVO-046 OVC alarm (Group: 1 Axis: 5). After few hours I managed to fix it, but it was more luck than skills, and I don't want it to repeat. Now the limits on each axis are lower -360 deg and upper 360 deg.
Can someone help me with this issue?
Axis limits
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CrazyRobo -
December 6, 2018 at 3:47 PM -
Thread is marked as Resolved.
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Axis Limits: Menu>System>Axis Limits.
Actually in the post right below yours.
The search feature can be a real life saver in here.
Peace. -
Axis 5 can not move that much! You shouldn't allow the robot to move that much the wrist can crash with the forearm
Check the datasheet of your robot to see what are the position limits
And jog the robot to see if your tooling requires a more strict limit to prevent accidents
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For the OVC alarm you should be able to cycle power on the controller FCTN<0<8 then arrow over to YES and hit enter. Do this with the controller on. You got the OVC alarm probably because your axis limits aren't properly set up so instead of hitting a soft limit which is easy to recover from you hit a hard limit giving the robot the OVC alarm. If you're pretty familiar with your right hand rule start the robot at a speed of 1% and jog it away from where it just hit. Shouldn't take more than a few minutes for you. The first few times can be a pain in the butt but once you're familiar with it shouldn't be too bad. Do as the others have said and check what your axis limits should be set at and change them. You will need to cycle power on the controller again for the changes to take effect.
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Axis 5 can not move that much! You shouldn't allow the robot to move that much the wrist can crash with the forearmCheck the datasheet of your robot to see what are the position limits
And jog the robot to see if your tooling requires a more strict limit to prevent accidents
Unless it's a 5 axis robot. He didn't say which model.
Sent from my SM-G930V using Tapatalk
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Oh you're right guys I know that the limits should be different, but I am not the person who setted it up. I think that it was the factory settings.
We have 6 axes robot Fanuc LR Mate 200iC - I found in datasheet information about motion ranges, but I want to be sure - if there is information that J1 motion range (degrees) is 340 I should set on TP lower limit -170 and the upper limit 170, am I right?Is there a possibility to set up pop up screen, which would inform user that he is going to approach the limit before the robot cross the limit and stop with this alarm?
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Yes you are correct on the J1 limits setting.
On every Fanuc robot I have ever worked on it won't allow you to enter a number that is beyond the max motion range of the robot, and if you try it will have a pop-up window that will tell you the maximum limit. Maybe this is not the case on older robots.
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great, thanks!
One more question:
What happen if I will change J1 limits on really small values for example on -40 lower and 40 degrees upper, and after that I will reach this limit? Does any info appears, or I will just get the SRVO-046 OVC alarm?? -
Hitting a software axis limit will not in and of itself give the OVC alarm. OVC is an overcurrent alarm that means the robot encountered major resistance to motion and tried to overcome it, pumping higher current than is allowed. OVC you must cycle power to recover, as it can be an indication of something unsafe.
If your soft limits are within the boundaries of the hard limits, you should just see an axis limit fault which can be cleared with reset and carefully jogged out of the error state.
If you were to take a robot, rotate J1 90 degrees, then master it to zero at that position, i believe all of the kinematics would behave normally, but the robot would allow you to place soft axis limits that it thinks are safe but are actually beyond the hard stops, due to the incorrect mastering. Mastering should be treated as safety related, because if it is done poorly enough it can be.
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Thank you for explanation but I still have a problem.
I setted up new limits, and it looks like it doesn't work. I wanna try to see what happen if I would cross the limit so I gave J6 limits -30 to 30, but when I start to jog nothing happened - I moved this joint over 180 degrees without any fault information. What am I doing wrong?
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You must cycle power for new axis limits to take effect.
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It worked!
Thank you very much, now everything is as it should be.