Posts by Skooter

Forgot to add if you don't make changes in the parameter menu and press 'Active', it will return you to the top of the Manual menu.

Also, after the system has the new parameters don't forget to save them by pressing 'To Disk' in the 'Param' sub menu. Parameters are saved separately on the disk from the programs. The parameter block is hidden and doesn't show when viewing saved blocks on the disk. The only way to make sure the parameters are saved is to save them. It's no fun to try loading parameters and have it say parameters not found.

On an S3, pressing the 'Active' key in the parameter menu writes the new information to the EEPROM and restarts the system. That's why you see the "PROG UNIT COMMUNICATION FAULT". The S3 did not actually reboot and required the user to cycle power (like the Shutdown sequence in an S4C+). The changed parameters will load on power up. S3's boot up fast compared to modern ABB.

Sync offset in the S2/S3 is the equivalent of Fine Calibration in newer robots. You still need to update the rev. counters.

There used to be a IRB1500 manual on the forum years ago, try searching for that and any Product manuals for S3 robots. Much of the information is the same for most S3 regardless of manipulator.

Without know how it happened, I would be cautious. If it pushed past the upper arm tube seals at either end and into the tube, it is likely that the seal is damaged or the seal lips is extended. If I was selling the robot, the upper arm would get new seals at both ends to make sure. It would also get a plug in the bottom of the compromised hole(s).

Looking at terminal block CRR3 on the EMG Board, are there jumpers between CRR3-6 [EMGIN1] & CRR3-8 [EMGINC] and also between CRR3-8 [EMGINC] & CRR3-10 [EMGIN2]?

Do the positions in your program reference a Work Object and if they do is it something other than Wobj=0?

Sometimes E-Stop switch contacts get dirty if not used on occasion. With power ON, cycle all the external E-Stop switches in the cell about 10 times each. Now see if the SRVO-007 error clears.

If that doesn't work; with the power OFF, check the external E-Stop circuit at the EMG Board terminal block CRR3 (top one). Measure CRR3-6 [EMGIN1] to CRR3-8 [EMGINC], should be less than 10 ohms. Measure CRR3-8 [EMGINC] to CRR3-10 [EMGIN2], it should also be less than 10 ohms.

Not the manipulator, which controller series?

ArcMate 100 is R-J or R-J2.

ArcMate 100i is R-J2 or R-J3.

ArcMate 100iB is R-J3iB or R-30iA (R-J3iC).

ArcMate 100iC is R-30iA or R-30iB.

Which controller is this? Provide that and get very specific instructions. In general - check the external e-stop circuit and verify those connections.

If you still have the BZAL error, search BZAL on the forum to find instructions on how to clear for your controller. This has been answered dozens of times over the years.

Adding to HawkME'S reply:

Sometimes you'll also see Robot Outputs listed as RDO (RO) and Robot Inputs as RDI (RI).

Looks like DSQC315 Combi Bd in board address 1 and DSQC223 Digital I/O in board address 2.

Try reloading your EIO parameters from a backup.

If you have to enter manually:

DSQC315 has 16inputs / 16 outputs / 2 analog outputs

DSQC223 has 16inputs / 16 outputs

I agree with pdl that something was lost in translation. Not sure why the fixation on VFD unless you're using it to run a generator. Fanuc R-J3 robot controllers require 200-240VAC 3-phase at 50-60 hertz. Many have transformers to convert various voltages around the world to that voltage. Exception is the R-J3 Mate controller for small robots with the single phase option that will run with 200-240VAC 1-ph.

I have a R-J3iC/R-30iA Main Brd & a R-30iA Mate Main Brd sitting around that I would like to use as spares for service calls.

Software and images both load on each one without issue but getting the 'SYST-174 S/W Reg. active, option missing'.

Verified with Fanuc tech support this is likely a remnant from the dark days when Fanuc was trying to force software subscriptions on us all.

Fanuc can issue PAC to rectify the problem but that requires the software serial # & end-user information. If installing this on a service call, this would cause delays to getting a customer running again just to wait for a PAC so we don't want to take that chance.

Other than waiting for a system we need to relicense and try it on that, has anyone heard of another way to clear this SYST-174?

Check the name plate on each robot. The AM120i/M-16i work with both the R-J2 & R-J3. If the A05B-1212-Bxxx part # is the same, it will work.

ArcMate 120i part # A05B-1212-B201 and M-16i part # A05B-1212-B202 are compatible except covers & EE connection.

ArcMate 120iL part # A05B-1212-B301 and M-16iL part # A05B-1212-B302 are also compatible except covers & EE connection.

From previous response:

Chain 2 is accessed at connector block KT3 row. Double check row 'B' jumpers: 1-2, 3-4, 5-6, 7-8, 9-10, 11-12. Don't assume jumpers are good, pull each one and verify they were properly inserted and tightened on the wire and not the insulation. KT3 has deeper than normal wire pockets and it's easy to tighten on the insulation if you don't strip the wire back enough.

Reference the prints in the manual in the link in previous response, circuit diagram sheets 7 & 8.

I troubleshoot the 0V chain by putting the voltmeter (+) on the 24V [XT3-b15 or -B16] and use the (-) lead to follow the 0V thru the run-chain. If in manual mode, you must pull in the deadman to measure, I prefer Auto mode so I don't have to mess with deadman.

Start at XT3-B5 and if it is 0V, then keep going XT3-B6 up to -B12. You'll find the break in the chain somewhere.

Quote from smallkuka

Hello Guys,

Exist some easy way to see and monitoring the torque of a motor, or the temperature of a motor, or the SMB voltage, from the ABB Teach pendant?

There is no individual temperature monitoring for ABB robot motors that I know of. Motor overtemperature is usually monitored by PTC sensors in each motor with all motors wired in series. Increased temperature in any motor will increase the resistance. If resistance increases too much, it will trigger an overtemp. It is up to the user to find the 'Hot' motor.

Interesting feature about your IRB6700 (and IRB4600) is it does not have PTC sensors.

Quote from smallkuka

Hello Guys,

My First Post in ABB Robot Forum, I've been working with Kuka Robots, and now Learning and working with ABB.

My Question Is...

In IRC5 Single panel have some battery for CPU? To save the configurations from the cabinet in power loss situations?

Just to reiterate and expand on what has already been conveyed:

When power is lost, the IRC5 uses a capacitor bank to maintain power to the computer long enough for it to image memory to the flash memory - this takes 7-15 seconds depending on how much is in memory. This is similar to the Kuka (but much faster) using the (2) 12V gel cell batteries for backup at power loss. If power returns with the ABB before the image is complete, it may interrupt the image being saved. This can require loading of the last good image so always make sure you save changes!
If it does not maintain the date & time, then it will likely be the 2032 battery inside the computer.

If it does not maintain the Rev. Counters, then it is the battery pack on the SMB inside the robot base.

When looking at the terminating resistors as Lemster68 said, make sure they are making contact when compared to the larger cable wires. I always use ferrules for these connections and incorporate the terminating resistor leads in with the wires when I install the ferrules. When you make sure you have good/proper connections, it takes a lot of guess work out of your troubleshooting.

My first robots - IRB6 stage2 & IRBL6 stage3. These were just used for board repair, no production.

Do you know why axis 2 was damaged? If it was because of a fork truck, inspect the bottom side of the motors to make sure the robot was not lifted by the axis 2 & 3 motors - this can damage the motors. Damaged motors and base cable can cause repair costs to exceed value of robot.

If the base cable assembly is bad, it may seem challenging if never done before. Once you get to that point, folks like Viperacebb in post #2 have lots of tips to help.

If you have the ABB part #, that should be all you need. Axis 2 motor is the same.

ABB had multiple vendors for the gearboxes with different motor pinions. Double check the pinion is the same on the replacement before you install it.