Posts by MathewWallbank

    I had issues with my battery charging unit on the control cabinet. the battery tested fine for voltage but still kept failing after being parked for more than week. the chargers failing isn't that uncommon

    I proved the point by going into service/ system status (?) and checking on the battery status. if it always says charging and never says charged the board is shot.

    The zone for any cutting or welding for a robot should always be zero for the points at the start and end. a laser cutting application should probly have a mean tool-point error of less than .5 mm. rotate your tool with a sharp reference point taped to it around the world Z coordinate system to see what the XY specific mean error is. (assuming you're cutting on an xy plane)

    Rigidity of your setup and cable management can also affect it. there are a lot of inertial forces from making small circles, irb4600 should have pretty low backlash unless there is something wrong with it

    whats the model on the welders and do they use an rcu5000 pendant? if the robot is communicating other functions but the synergic lines on the welder are not working its more likely a mismatch within the power supply.

    would need to know more specifically what the entire welding setup is and what protocol the communication to the robot. (guessing devicenet)

    the fronius system I/o is in this manual with a list of signals starting on page 21


    when doFrTouchSense is set to 1 or True the welder will go into touch sensing mode and say so on the display, you cant jog wire when the signal is active. your can test whether your diarcstable signal is the right one by grounding the wire to the workpeice (warning thats 80v) and looking to see what signal goes high in the list.

    I think Skooter posted some rapid reference manuals on here but a quick google search should find one for whatever version of robotware you have

    Use DefDframe to get a a new displacement frame from recorded points.

    Its listed under functions in the manual.

    CONST robtarget p1 := [...]; (You'll need to record these three while defining the wobj on robot1)

    CONST robtarget p2 := [...];

    CONST robtarget p3 := [...];

    VAR robtarget p4;

    VAR robtarget p5;

    VAR robtarget p6;

    VAR pose frame1;


    !Search for the new positions

    SearchL sen1, p4, *, v50, tool1;


    SearchL sen1, p5, *, v50, tool1;


    SearchL sen1, p6, *, v50, tool1;

    frame1 := DefDframe (p1, p2, p3, p4, p5, p6);


    !Activation of the displacement defined by frame1

    PDispSet frame1;

    (Three positions p1-p3 related to an object in an original position have been stored. After a

    displacement of the object, three new positions are searched for and stored as p4-p6. The

    displacement frame is calculated from these six positions. Then the calculated frame is used

    to displace all the stored positions in the program.)

    im trying to figure out how to get the right analog input from the fronius welder, which i think can send the analog voltage value to the robot through devicenet.

    im wondering if these lines in the EIO.sys file might be able to be set up to create an internal analogue input value to link weldguide to



    -Phsig 1 -Type "AO" -Unit "ioFronius" -StartBit 32 -NoOfBits 16\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 65535

    -Phsig 2 -Type "AO" -Unit "ioFronius" -StartBit 48 -NoOfBits 16\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 65535

    -Phsig 3 -Type "AO" -Unit "ioFronius" -StartBit 64 -NoOfBits 8\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 255

    -Phsig 4 -Type "AO" -Unit "ioFronius" -StartBit 72 -NoOfBits 8\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 255

    -Phsig 1 -Type "AI" -Unit "ioFronius" -StartBit 32 -NoOfBits 16\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 65535

    -Phsig 2 -Type "AI" -Unit "ioFronius" -StartBit 48 -NoOfBits 16\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 65535

    -Phsig 3 -Type "AI" -Unit "ioFronius" -StartBit 64 -NoOfBits 8\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 255

    -Phsig 4 -Type "AI" -Unit "ioFronius" -StartBit 80 -NoOfBits 16\

    -EncType "UNSIGNED" -HighAnalog 10 -HighDigital 65535

    The fronius setup manual list these analogue parameters

    SupervWireStick signaldo


    TcpSpeedCtrlDO signaldo Digital output for activating the TCP Speed mode.

    Analog output signal for analog voltage reference. If

    weld voltage is defined, the component voltage is

    available. Also referred to as ArcLength.

    VoltReference signalao

    AO (required)

    Analog output signal for analog wire feed reference.

    If wire feed is defined, the component wirefeed in

    welddata is available. Also referred to as Power.

    FeedReference signalao

    AO (required)

    Analog output to control the welder. Also referred to

    as Dynamic.

    ControlPort AO signalao


    Analog output for burn back correction. Also referred

    to as BurnBackCorrection.

    BurnBackCorrec- signalao

    tion AO (required)

    Internal analog output signal representing the actual

    robot TCP speed.

    Internal signalao

    TcpSpeed AO

    TcpSpeed AO signalao Analog output signal sent to the Fronius power source.

    VoltageMeas AI signalai Analog input signal for voltage measurement.

    CurrentMeas AI signalai Analog input signal for current measurement.


    SynWireFeed AI signalai Analog input signal for synergic wire feed.


    MotorCurrent- signalai Analog input signal for motor current measurements.

    Meas AI

    Group output signal for sending the job number to the


    JobPort GO (re- signalgo


    Group output signal for sending the program number

    to the welder.

    ProgramPort GO signalgo


    Note: Program number 0 and 1 are occupied and

    cannot be used.

    Group output signal for sending the mode number to

    the welder.

    ModePort GO signalgo


    WelderError- signalgi Group input signal for the error codes fromthe welder.

    im thinking if I enter VoltReference signalao somewhere into the parameters it will connect one signal to the other?

    Im pretty sure the DSQC345C is whats on it now. (bottom left corner)

    The motor I want to use is a 3HAB4040-1/5, PS 130/6-90-P-PMB-3737

    will a DSQC346G run 2 of these?

    Other than the motor cables what else will I need?

    I'm trying to get an FTP connection working with my s4c+ controller but I don't seem to be able to access any settings under Communication: Physical Connection: Protocols

    I tried doing an X-start and adding in the IP information for the computer but that doesnt seem to help its as though the information is missing in the SIO file. (here's the contents)





    -Name "COM1" -Connector "MC/SIO1"

    -Name "COM2" -Connector "IOC1/SIO1" -Baudrate 38400

    -Name "COM3" -Connector "IOC1/SIO2"

    -Name "LAN1" -Connector "LAN"

    -Name "SER1" -Connector "SERVICE"



    -Name "RTP1" -Driver "mc/rtp1"

    -Name "FTP" -Driver "FTP"



    -Name "TCPIP1" -Type "TCP/IP" -PhyChannel "LAN"

    -Name "laser1:" -Type "RTP1" -PhyChannel "COM2"


    -Name "ABB" -Type"FTP" -Trp"TCPIP1"


    I've seen some threads about adding something like :

    -ServerAddress "" -LocalPath "ToolPC:"

    -Username "ABB"

    -Password "ABB" -MaxFileSize "150"

    but I don't think i can put that in there unless those things are defined asstrings and i dont know the syntax for doing it.

    Any ideas?


    I have a 7th axis on the controller already, the motor linked is the same as the one on the 7th axis. I think the SMB will run 2 axis but not quite sure. I want to use axis 7 and 8 for coordinated motion.

    If getting a DSQC346G servo driver and swapping out the DSQC345C is the way to go ill bring one in. they are plentiful at least. the wiring from the servo board to the motor is going to be the tricky bit in my mind


    I have an s4c+ controller with an external axis and I want to add a second one (maybe third) but to get started I think i need a parts list to hook in the motor to the controller.

    I've added pictures of some of the things i have.

    So far I think I need a motor power cable and serial cable.

    I have the serial measurement board (which if i remember right will run three axis?)

    what other components do I need to gather to add in preferably a

    ABB 3HAB4040-1/5, PS 130/6-90-P-PMB-3737

    or similar motor (but yeah that one matches the one in there already)


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