I think maybe you are misunderstanding what a short circuit rating is. Try searching this on the web for a better understanding of what happens in a short circuit condition.
Posts by Chipprogr
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There is really nothing electrical here that can cause the mastering to just change. Even low voltage or a bad servo amp wouldn't cause it. The controller would know that the position error was too great and flag an error. It honestly sounds like you have a reducer or other mechanical issue happening. I would look at the J2, 3 reducers for problems.
Good Luck- Eric
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If your running a robot Ver7.70 or older, you need the KAREL option installed to see the data values directly on the teach pendant. Otherwise, you need to copy out the file to a pc to read the value that was last stored in the variable. You dont need karel installed to run PC files (except r30ib- they changed that) but you do need it installed to debug.
Hope this helps -Eric
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From my experience, when a karel program is loaded (different from copied), it goes into the robots operating memory in a sort of inflated manner. What i'm trying to say is that the file doesn't get copied into , say, FR:, MD: RD: etc...it gets loaded into the operating memory portion of the robot. The .vr file is created at the time you run the .PC program. This 'is' an actual file that can be copied, but the .pc file may have never been copied, only loaded. If you don't have the .KL source file, then this program can never be modified or recreated into a PC file. If you don't have a physical copy of the PC file, then you never will get it from the robot. As standard practice, we ALWAYS keep a local copy of the .PC and corresponding .KL file on the robot. We feel that unless it was a proprietary , turn-key project, and if the customer paid for the software engineering time..its theirs and they can do what they need to with it.
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You may not be aware, but you are becoming aware, that repeated stopping of a robot in motion by E-stop , which should include the light curtain, will destroy the brakes in the robot. The jerk will get more excessive until it is broken. There is no variable that i can see to help you. It is an emergency stop, not a controlled stop... sorry.
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Hi Jay,
I too would expect some differences and do understand that this is a totally new controller from the ground up..that being said, i would also expect some improvements in performance that fanuc said was available from this new controller. Im between a rock and a hard place because the new robot cannot keep up with the old one,even with some tweaking. Im at a loss to explain. Power is not the issue.
Thanks -Eric
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Hi group.
I have a problem and wonder if others have seen or experienced the same issues. We have some projects that were migrated from R30ia controllers to R30ib controllers and the resulting motion is different and somewhat slower causing us to heavily modify the CNT values to compensate for the motion differences. The options are the same, motion and configurations the same. Has anyone else seen this happen with your robots?
examples are m710ic and a pair of 200ic migrated to 200id robots.
I am waiting on a call back from FANUC but the tech guy suggested there might be a known compatibility issue if we were transferring our r30ia TPE files to the R30ib.
Thanks -Eric
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Some issues I see are this..
The commenting is incorrect. 'rval' was declared as an INTEGER , not REAL.
CNV_STR_INT(reception, rval) -- Conversion String to Real
this is actually converting to an integer and being stored in integer register #28. Something is wrong with your string and its not getting
converted, thus your command - SET_INT_REG(28,rval,status) is trying to store an uninitialized value and it cant determine what to do...so it stops.This is from the KAREL manual for the CNV_STR_INT command ------
source is converted into an INTEGER and stored in target .
If source does not contain a valid representation of an INTEGER, target is set uninitialized.I would validate the rval data with the IF UNINIT(rval) THEN.....
Hope this helps -Eric
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If your trying to do it on an LRmate controller -its not supported.
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Yea, these are a pain for sure... I have seen brake wires short through the wire insulation to ground. You might look at individually ohm testing each brake line to ground. You would do this by pulling off the brake connector at the controller end and individually testing to the frame ground.
Hope this helps -Eric
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You need to try logging voltage at the servo amp or disconnect (if its in the servo power loop), not so much for the incoming power.. i have seen the 15 amp cartridge fuse holders go bad and you will intermittently drop a phase to the servos. The fuses im talking about are between the secondary output of the 3ph transformer and the servo amps. keep in mind that the voltage your reading has no reference to ground or the buildings 'neutral' line. Its an isolated 3ph power and can only be accurately read from red wire to red wire.
Hope this helps -Eric
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I just had this exact same error at a customers site about 2 weeks ago. RJ's are notoriously buggy and it will eventually scramble its brains. I hope you have the application and positional data backed up because you will most likely need to reload the controllers operating system and then reload the application and positional stuff.
Reloading the controller fixed the issue, but not the core problem that the controllers have issues.-Eric
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Hello,
The RI/RO are accessed via that EE connector. The DI/DO are via a 50 pin Honda connector. I seem to remember this connector being located at the bottom of the front door (inside). Do you have any documentation for this robot?
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If your looking to save the most money possible and the least amount of learning curve, this could EASILY be done by adding a handful of small signal diodes that cost about $0.10 each. They would create a binary coded input to 5 robot digital inputs. With 5 inputs, you could have up to 31 program selections. If your interested, Ill take the time to diagram this out. Its not really something 'industry standard', but will work and is really inexpensive.
-Eric
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Have you checked the group outputs/inputs and analog in/out? Sounds like one of them is assigned to the rack 1.
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Agreed. Bad pulse coder or broken wire in the cable.
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Glad to see your making progress with your robot. We are always here to help you beyond our trip to Iowa to help you initially setup this robot. I wish I could help you with your welding schedule but we cannot as welding is not my forte. If you ever need robot programming assistance , you can count on us or even asking in the forum.
-Tell your brother we said HI.
-Eric (Midwest Motion)
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I have never heard of PE files. Can some please enlighten me?
Thanks -Eric
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Thanks for the update Dusty,
With this additional information, I would shift my stance to slipping brake. The face that your seeing A3 drop a little tells me that the brake may have grease on it from a busted motor seal. This can happen when people improperly grease them. It squeezes grease past the seal and onto the brakes. If the robot moves to a position and waits for a few seconds, the controller will apply the brakes to keep the motor from excessive holding currents. This is probably when the error is happening. The robot knows the encoder had moved too much and is flagging an error.
Mike how about a beer?
-Eric
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PE??
and why did you start a poll to go along with the question?
-_Eric