Collision Detection Disabled on Ext Axis

    Hey All,

    I am about at the end of my rope with this situation and Fanuc has not been of much help.

    We repurposed 2- R2000s in house; 1 of which has an extended axis.

    I installed two reburns into the robots with no issues. All PACs installed and working.

    The cell is up and running production except when I try to run any speed higher than 55% on my robot with extended axis, it gives me SRVO-365 DCS_CMP alarm (G1,A7) 1,1

    I have traced this down through the error code manual which referenced SRVO-023 (Stop Error Excess) which i am trying to remedy, performed my controlled start and reviewed all my config data for the axis and it is configured properly.

    Payloads have been set with the proper payload calculator and CAD Data. Programmed offline in Roboguide and functions as it should.

    Things I have noticed;

    • If I go to STATUS->AXIS->DISTURB I am unable to adjust the values for Axis 7 Max and Min
    • When I cursor over J7 the pendant displays "Collision Detection is Disabled"
    • I have an old backup from the Robot when it originally was purchased and it has values there.

    What am I missing here? I am pretty certain that the robot does not have those values to compare to for position tolerance so it gives this error when attempting to run at full speed.

    How can I enable collision detection so I can set these values? I have searched every manual I can possibly think of and am not getting any love here.

    Cheers

    Check all remedies from manual:

    Code
    Check whether the duty and applied load exceed the rating. If so, reduce the duty or applied load.
Check whether the robot is pushed or pulled by an external force. If so, remove the external force to the robot or modify the taught point.
Check whether the power line of the robot connection cable or the cable in the mechanical unit are down.
Check whether the motor power cable/connector and brake cable/connector are connected correctly. Especially, check whether the power cable/connectors are not connected to other motors.
Check whether the robot setup (setting of 2BK or 6BK) is correct, if the used robot has 2BK option.
Measure the supplied voltage. Then, check whether the voltage is matched to the controller specification.
Check whether the motor brake is released properly when RESET is pressed or the robot moves. First of all, check whether the setting of brake number is correct when this alarm occurs on an auxiliary axis.
When this alarm occurs on the auxiliary axis whose brake is controlled by the auxiliary brake unit, check the fuse on the auxiliary brake unit.
If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information. About auxiliary axis, refer to the Auxiliary Axis Option Maintenance Manual.

    1. Set up the auxiliary axis (Gear ratio, acceleration time, and etc.) normally.
    2. Turn power on.
    3. Set the following system variables.
    • $SBR[n].$PARAM[112] = 2097152 / ($SBR[n].$PARAM[47])
    • $SBR[n].$PARAM[119] = 7282
    • $SBR[n].$PARAM[120] = -7282
    n : Hardware axis number of auxiliary axis
    n=7~ for aux. Axis / n=1~6 for robot axes
    4. Cycle power


    Uff Da...

    I am accepting face palms from everyone today if anyone would like to hand them out. Oh well. At least we got it now.

    thanks again all.

Advertising from our partners