There is one issue occurred in the customer's factory. The iPendants freeze irregularly and become inoperable. The LED light on the mainboard shows ‘.’, which means normal. When TP freeze, the robot is sometimes keeping running in auto mode and sometimes in manual mode, and will pop up a dialog box 'Disconnected From Controller'. After restart, the robot and the iPendant resume normal. Out of 500 R-30iB PLUS robots , more than 80 robots have the same issue.
The dialog box 'Disconnected From Controller' is known as that the Watch Dog for communication between Controller and Teach Pendant need to be increased. So I changed $TX.$WDOG_TIMER from the defalut 100 to 400, and the defalut 1000 to 4000 for SETVAR $TX.$SLOW_TIMER. But the issue still exsits.
After that, using the Wireshark tool to test, the network data packet size of Port1 is about 600pps, and the network data packet size of Port2 is about 300pps.
The current suspicion is that the congestion of the Ethernet/IP network caused the robot to crash.
1. Are there other factors that caused the TP freeze problem?
2. If the Ehternet/IP network problem caused the TP to freeze, how to find the reason?
3. If Ehternet/IP network problems cause the TP to freeze, is there any suggestion for a good solution?
Thanks for your attention and support!