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Posts by Skooter
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DO NOT DELETE all the folders on hd0a. Just copy off and then delete the 7 hex labelled directories in the temp directory and then see if you can do a backup. You may have to restart and try again.
Guessing you may have an additional backup folder in the hd0a/67-xxxxx folder. If so, check to see if there are more in there.
Regarding backups, it's good to use RobotStudio but I always keep the most recent one in the 'BACKUP' folder in the root directory. Just in case something happens to RobotStudio laptop when you need it.
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Bravo for staying on the PM work.
I usually get those errors when moving linear near a wrist reorient or singularity. You can do a little wrist reorient at beginning, end or both of the offending move. Also consider changing to joint coordinates. If it's a long distance in joint, you may want to add a Z200 point or two to ensure the robot stays along the intended path. Always test at low speed both forward and backwards. Gradually increase speed until path and operation is verified.
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What RobotWare version?
Post a pic of a directory containing these oddly named backups.
As Lemster68 says, there should be a designated folder for backups. I've seen systems with filled with dozens of backups in multiple directories. It's great to do backups but housekeeping of the backup directory should be done regularly. Make sure everyone doing backups are on the same page.
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If battery pack checks, very likely it's the SMB. If original, it's over 20 yrs old and well past shelf life of some of the components - more so if in a hot environment.
These SMB are not as intelligent as the newer ones, so you can swap the SMBs without much trouble. Run each robot to cal position first to save time with the rev. counter updates.
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Yes if you can correctly reassemble it.
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Sorry you didn't have success with Fronius. Swap cable again to make them happy so you can get them to suggest something else.
One at a time, try swapping the entire VR7000, power source, and even the robacta.
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Rev. counter loss has nothing to do with the 3HAB2308 controller batteries.
From my 3HAC16831-1 notes: Pin 1 = (+), Pin 2 = (-)
Does the old SMB battery pack measure 10.8V too.
To verify battery, do you have another robot you swap SMB battery pack with?
Take a good look at the SMB - it should be clean with no fluid, corrosion or debris on the circuit board.
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It did not follow the motherboard but have you tried changing the VR7000 as a complete unit? What about swapping Robacta or power sources and see if issues follow. Contact Fronius and get their opinion. In the US, Fronius tech support is great to work with.
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Maybe the replacement motor's brake is also defective.
This is true especially if it's a used motor. Even if motor is rebuilt, not all rebuild shops are setup to do everything needed to ensure proper brake torque. Even if the torque measures good, if the gap is too large, the brake does not engage fast enough and allows motion.
Check to see if the motor brake is holding:
Move the robot to a safe area. Move A3 so it is parallel to the ground, move A4 to 90 or -90, move A5 to 0, move A6 + or - so the tooling center-of-gravity is at 3 o'clock or 9 o'clock to the faceplate. This should be max load for axis 4. Note the position data for A4 and release the deadman so the brakes engage. The position data should not change more than 0.1 if at all.
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Welcome to the forum.
It sounds like the image backup is not being done. Looking at the computer, there are green (Enable) & yellow (Hard drive) LEDs. Watch these LEDs when the disconnect is turned - the yellow should start blinking for 4-10 seconds and then they will both turn off. After the disconnect is turned off, there is a capacitor bank (not a battery) that maintains the incoming 24V long enough for the computer to image memory. When power is turned on, it will reload this saved image and your programs should be where you left them at power down. If it is not imaging due to a capacitor bank problem or some other issue, it will revert back to the last known good image which is likely before the programming was done.
ABB created a work around for this: before shutting down the controller, go to the Restart menu, press 'Advanced..', select Shutdown & press OK and then press Shutdown. The controller will now save an image. After 15-20 seconds, the teach pendant screen will change to 'Connecting to robot controller' screen - it is now safe to power down the controller. When it is powered back on, it will start where you left off.
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This will be an issue with the SMB and/or battery pack in the robot.
Because ABB has many replacement SMBs in field, which battery pack & SMB are these?
When you say "I have checked both batteries (robot & controller) and they were fine", what voltage do you measure on the SMB battery pack and where are you measuring it?
I ask this because over the years I've dealt with miswired batteries and battery connector pins crimped on the insulation and not on the wire. I've also seen contacts spread open from forcing something to large into contact when trying to measure.
I assume there should be a SMB battery alarm associated with this in alarm history.
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With regards to contactors - change them both together. You may want to replace the large 4-pole relay on the PCB too.
Just to add to pdl's post - an integrators discount increases with amount they purchase from Fanuc. If you're a good customer & purchase a lot with a large distributor, they may offer a discount off of list. The more they spend with Fanuc, the better for the integrator.
You should get a Fanuc login. Pretty sure they'll quote you at list price if your login doesn't give pricing.
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Outside of Fanuc for the R-30iA, finding new is going to be a surplus unit purchased from Fanuc at one time but not used and available for sale. An internet search of your part # will give options you can sort thru looking for new. Price is the big consideration.
If you're open to refurbished then there are still lots of choices including Fanuc. Stick with a company having the robot systems to test them with after being repaired/refurbished and backs them up with a good warranty and make it right attitude.
You may want to choose a company that also has good robot knowledge. When you're down, making a phone call can get quicker response than the good folks on the forum.
Good customer service, setting your company on an account if making multiple buys, available field service, etc. are also considerations.
Sorry for being indirect but I know quite a few people and it's hard to choose among friends or even your own employer.
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we have the fanuc s420f robot and r-j control panel . we want to change control panel with r-j2.
what kind of problems we will meet. do we have adjustment problems.
I don't recall an S-420F option in the robot library for R-J2 software. The S-420i series used with the R-J2 is totally different mechanically.
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Hi, I'm fairly new to programming robots. I have a r-30ib mate with a 200id. I got it used online and was looking to add a linear rail to it. Can the standard 6 axis servo drive power that? If so, where do I plug it in? If not what else would I need? Thanks in advance.
The 6-axis servo amp can only supply the DC bus voltage for "another servo amp" mentioned above by Nation.
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Vendor depends on whether you are looking for used or new, untested or tested, as-is or refurbished.
Hard to recommend whole unit or contactors when we don't know what controller you have.
R-J3 likely to be contactors but with R-30iB/R-30iB+ and R-30iA & newer Mates, it more likely to be the PCB. Getting a whole unit can take some guess work out of troubleshooting. Depends on what your company's downtime tolerance & costs are.