This is about our R2000iB/165F with an R30iA controller and operating the SpotTool+ 7DA7/26 and Software edition V7.70P/26. It is getting 1 or 2 bumps along its travel path when I am jogging it in World and when jogging the J2 axis in Joint mode. It will be moving smoothly, and then will have a sudden bump of roughly a 1/10 to 1/4 of an inch. It seems to happen at similar J2 and J3 axis interaction angles (somewhere between -16 and -18 degrees)(it has also occurred near -50deg J2/J3 interaction). The bump also will not occur when moving the J3 axis, but it will when moving the J2 axis in Joint mode. After the bump, it will continue moving smoothly.
* What advice or potential causes for the bump would you recommend?
- Is there anywhere we can get info or dimensions on the R2000iB/165F's guide pins so we can machine them ourselves in case it is a mechanical issue?)
- After finding the pattern at the J2/J3 interaction, could there be a software side issue causing this? and if so, is there a way to change the way the J2 and J3 interact, besides the Joint Interaction Limits?
* I am new to working on robotics. I've been working on this and we've only had the robot for the last 3 weeks. So, a bit of a learning curve.
* Bought 2nd hand through a surplus company. This is our first robot, and are trying to get this thing running for the least amount of money possible. We are not a large company, and this is not directly impacting our operations yet
* Our software came with it, and has not been repurchased through FANUC.
* This robot is eventually meant to be used with OLP software to assist in 3D path planning to route and trim plastic parts.
Things we have tried:
* Remastering: (Reloaded back up position reference and master count variables, and have re-zeroed using the witness marks. The robot came with the Pulse Encoder batteries dead, so old mastering data was lost. Created an all system files back up and IMG backup, before doing an INIT start, to get around built in password protection)
* Rotated Pulse Encoders: (We wanted to test if the pulse encoder disc could be damaged, but it showed no effect)
* Set Payload: We were told that Payload settings can potentially disrupt movements, so it was set as low as 30kg compared to the default setting of 165kg. No inertial values were placed in. (It does currently have an old tool attachment point left on, that is roughly 15kg.
What we wanted to Check:
* Is there mechanical wear on a gear tooth or on the reducer of the J2 or J3 joint? (We have the mechanical unit maintenance manual for this machine)
- If we did that, would we be able to remove the upper part of the armature without the guide pins? We would like to make them ourselves, but we have no information on their dimensions. We know where they should roughly go for J2, and their part numbers of A290-7324-X921 and A290-7324-X923.
* Now that I know that it is happening near J2/J3 interaction points, I feel like it is a software issue, but I don't know where to begin to figure out the J2/J3 interaction on the software side. I'll be looking in that further, but any recommendations would be very helpful.
This is my first post and I am just getting started in the field. Does this format work for making posts, or should I shorten it up like the others I've seen here?