I'm having an issue with my IRB 6000 not letting me run any programs. When I try to run a program, it'll move in a weird fashion and then it'll give me a 504 Program Run Error 26. I've tried calibrating it (lining up the lines on each axis and updating the counters), however, when I hit active, it gives me a Program Unit Communication Fault. I suspect it has something to do with that but I'm not entirely sure. Any help would be greatly appreciated!
Trouble Starting Program on IRB 6000
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PPSMaintenance -
January 21, 2019 at 12:18 PM -
Thread is Resolved
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this is usual and often means the wrist is trying to turn in the wrong direction to reach a point and will go out of its area.use robot coords as one of the first lines of code to get around this.
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I'm having an issue with my IRB 6000 not letting me run any programs. When I try to run a program, it'll move in a weird fashion and then it'll give me a 504 Program Run Error 26.
As referred to by 851dave, do you have a ROBOT COORD instruction as part of your housekeeping instructions at the beginning of program 0? Rectilinear coordinates are the default so you need to make sure you run the ROBOT COORD instruction near the start of your program before any motion.I've tried calibrating it (lining up the lines on each axis and updating the counters), however, when I hit active, it gives me a Program Unit Communication Fault.
When you press the 'Active' key, it reboots the controller to activate the new parameters. This is normal.Welcome to the forum.
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Looks like a singularity error, normally happens when Axes 4 and 6 are in line so it doesn't know which one to turn, use ROBOT COORD as above or MODRECT if you have that instruction.
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