1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. Stäubli & Bosch Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

How to do a perfect backup?

  • 16000lc
  • February 10, 2023 at 10:13 PM
  • Thread is Unresolved
  • 16000lc
    Reactions Received
    3
    Trophies
    1
    Posts
    29
    • February 10, 2023 at 10:13 PM
    • #1

    Hello everyone.

    What files should I save besides the usrapp folder to be completely safe in case something happens?

    This week our robot crashed and somehow all the points got deviated like 30mm on the Z axis.

    Not even transferring the usrapp backup folder I had solved the issue, as the points continued in the wrong place.

    What did I miss?


    Best regards and thanks in advance

  • Galet
    Reactions Received
    19
    Trophies
    2
    Posts
    141
    • February 11, 2023 at 8:14 AM
    • #2

    Hi,

    When you make a backup (on the pendant or with SRS), You save /UsrApp (all the applications) + the folder /Config (all the configurations files) + the log folder.

    If all the points are wrong after a crash, i'ts probably a geometry problem : The robot was not good calibrated at the learning point step, or now, the robot need to be calibrated...or perhaps the both !

    Other causes :

    - Your tool is wrong

    - You backup is too old.

    Best regards,

  • 16000lc
    Reactions Received
    3
    Trophies
    1
    Posts
    29
    • February 11, 2023 at 11:19 AM
    • #3

    Hi Galet.

    Does the config folder include arm and drives configurations?

    I figured it might not be enough to save only usrapp as the arm configuration should also influence everything.

    Another question. Is there anyway to edit a point through his coordinates on the pendant?

    Eg: Point A ( 10,10,10,20,20,20) change to (15,10,10,20,20,20). Is there a simpler way to edit it other than manually moving the robot to the point?

    I know through SRS I can do it, I just dont know if its possible on the pendant.

    Best regards

  • Galet
    Reactions Received
    19
    Trophies
    2
    Posts
    141
    • February 13, 2023 at 11:51 AM
    • #4

    Hi,

    In the folder "Usrapp", you find only the applications. The file where the controller memorize the calibration datas is in the folder "Configs". It's the reason why, in the backup, the controller save 3 folders (Sys = System (Configuration)), UsrApp(applications), and Log (Logger).

    The IO confgurations are also in Configs.

    You can directly, on the robot, modifie all the datas (notably the points), if a pendant is connected to the controller.

    What type of controller do you have ?

    Best regards

    Edited once, last by Galet (February 13, 2023 at 11:56 AM).

  • ElEsgalho
    Reactions Received
    17
    Trophies
    3
    Posts
    119
    • February 14, 2023 at 10:52 AM
    • #5

    To add some information up,

    If you have a CS9 controller with any safety configuration, you also need to backup the binary file of the safety configuration.

    You need to connect with SafePMT and get the safety binary file.

    Also, I would strongly recommend in the future to create some calibration reference positions, so you can easily calibrate the robot. As it was said here, having the positional information from the application is not enough to recover, you need as well to make sure the robot is running with the same calibration as before.

  • 16000lc
    Reactions Received
    3
    Trophies
    1
    Posts
    29
    • February 15, 2023 at 12:46 PM
    • #6
    Quote from Galet

    Hi,

    In the folder "Usrapp", you find only the applications. The file where the controller memorize the calibration datas is in the folder "Configs". It's the reason why, in the backup, the controller save 3 folders (Sys = System (Configuration)), UsrApp(applications), and Log (Logger).

    The IO confgurations are also in Configs.


    What type of controller do you have ?

    Best regards

    Display More

    The usrapp is inside the USR folder.

    There's 2 "configs" folders. One in USR, other in SYS, with similiar files, despite different values for configurations. Which one is the correct one?

    Our controller is a CS8.


    Quote from ElEsgalho

    Also, I would strongly recommend in the future to create some calibration reference positions, so you can easily calibrate the robot. As it was said here, having the positional information from the application is not enough to recover, you need as well to make sure the robot is running with the same calibration as before.

    What do you mean?

    The robot has it's marks used for calibration, which is what we normally use when we want to calibrate it

    Best regards

  • ElEsgalho
    Reactions Received
    17
    Trophies
    3
    Posts
    119
    • February 15, 2023 at 1:38 PM
    • #7
    Quote from 16000lc

    What do you mean?

    The robot has it's marks used for calibration, which is what we normally use when we want to calibrate it

    Best regards

    I mean, those are good enough to calibrate the robot itself.

    But if for some reason you replace the robot arm, there is no guarantee that the replacement will be placed in the exact same position, even if it's well-calibrated.

    It's possible to create your own calibration references on your cell, so you could check the robot's calibration against those. Our cells had that in the past but now we have a global frame to check the robot after calibration and to do small adjustments if needed.

    This could be quite good especially if you replace it with a different robot size, just teach the same frame and you should be good to go.

    Again, trusting only the robot calibration could not be enough to recover, especially if you move the robot's position within the cell, either for maintenance or replacement.

  • 16000lc
    Reactions Received
    3
    Trophies
    1
    Posts
    29
    • February 15, 2023 at 1:57 PM
    • #8
    Quote from ElEsgalho

    It's possible to create your own calibration references on your cell, so you could check the robot's calibration against those. Our cells had that in the past but now we have a global frame to check the robot after calibration and to do small adjustments if needed.

    This could be quite good especially if you replace it with a different robot size, just teach the same frame and you should be good to go.

    Again, trusting only the robot calibration could not be enough to recover, especially if you move the robot's position within the cell, either for maintenance or replacement.

    Got it!

    We also have calibration references in the cell but we never needed to use it.

    Our only priority right now is ensuring the correct position of the points in case something happens. There's no future plans of changing the robot mechanically

    Best regards

  • ElEsgalho
    Reactions Received
    17
    Trophies
    3
    Posts
    119
    • February 15, 2023 at 2:22 PM
    • #9

    Great, just keep making backups :smiling_face:

  • Galet
    Reactions Received
    19
    Trophies
    2
    Posts
    141
    • February 15, 2023 at 2:37 PM
    • #10
    Quote

    The usrapp is inside the USR folder.

    Yes...

    Quote

    There's 2 "configs" folders. One in USR, other in SYS, with similiar files, despite different values for configurations. Which one is the correct one?

    The file is \usr\configs\arm.old or \usr\configs\arm.xxxx.cfx (where xxxx is the robot's serial number).

    Edit the file and control the "OrderNumber"

    +1 for EIEsgalho : To have a recent backup is a very good idea ! :smiling_face:

  • Galet
    Reactions Received
    19
    Trophies
    2
    Posts
    141
    • February 15, 2023 at 2:50 PM
    • #11

    Hi

    Quote

    Another question. Is there anyway to edit a point through his coordinates on the pendant?

    Eg: Point A ( 10,10,10,20,20,20) change to (15,10,10,20,20,20). Is there a simpler way to edit it other than manually moving the robot to the point?

    I know through SRS I can do it, I just dont know if its possible on the pendant.

    On CS8 / SP1 :

    MENU / Application Manager/Val3 Applications/"Your Application"/Global Datas/"Type of Data"...

    Your points are in "Joint" for all the Joint positions and in "World" for all cartesian positions and frames.

    Select your Data then "Edit=F3" key...

    Be carreful when you change directly one point : Any safety for collision :smiling_face:

    "Save=F8" when the modification is tested.

    ... a little backup after that.

    Have a good day !

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Similar Threads

  • PC app for Quick info/tools

    • EnergyAddict
    • February 24, 2022 at 8:53 PM
    • Manuals, Software and Tools for Fanuc Robots (you should look here first before posting)
  • Axes do not move straight in linear motion

    • jnowka
    • July 20, 2022 at 4:37 PM
    • Fanuc Robot Forum
  • Jt1 turns in real 90 degrees and on the computer 60 degrees

    • W4e
    • September 3, 2022 at 4:33 PM
    • Kawasaki Robot Forum
  • Robot Paths Way Off After E-Stop

    • Fanuc-ache
    • April 15, 2022 at 12:46 AM
    • Fanuc Robot Forum
  • FILE-062, Backup Files Are Not Correct

    • SkyeFire
    • December 3, 2021 at 4:32 PM
    • Fanuc Robot Forum
  • Resurect a kr150L150 with KRC1 [OVERCURRENT ERROR AXIS 4]

    • tmuthesius
    • July 6, 2020 at 12:47 PM
    • KUKA Robot Forum
  • KConVars error

    • SkyeFire
    • March 23, 2021 at 3:20 PM
    • Fanuc Robot Forum
  • Zeroing data lost

    • arun_AR
    • June 27, 2020 at 10:30 AM
    • Kawasaki Robot Forum
  • Robot Studio rookie questions

    • wld82ngnr_hu
    • April 17, 2020 at 7:49 PM
    • ABB Robot Forum
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download