The 2 balancer pivot bushings are the only grease points on the robot that do not have outlets. The grease will come out at the back of each bushing between the frame and the balancer.
If the old excess grease becomes too much, it can be removed with folded towels slid between the frame & balancer.
If it's a dirty or hot environment or a lot of axis J2 motion, I find once a year can be insufficent for these pivot bushings.
Posts by Skooter
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In addition to uploading the EIO.cfg file from the backup as requested by Lemster68, send pictures of the node address connectors on the DSQC328 and the DSQC350. The pictures should be at an angle that shows the missing jumper pins.
Although a boards can have a node address between 10 - 63, the board on the left is usually addr 11 and the board on the right is addr 10.
To avoid startup errors, do not attempt to define any I/O signals to a board until you establish communication with that board (MS & NS LEDs are green).
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If you're uncomfortable with moving memory modules, a controller backup/restore might work if you have the option - usually loads into the bigger memory.
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Once again, this assumes that K3 contactor is not pulling in when jogging the robot. Is this true?
If true, please verifiy that the robot is actually moving while checking for 24VDC on wire #294 at contactor K3 A1 coil terminal.
First, try checking with meter positive lead on terminal A1 and negative meter lead to the chassis.
Second, try checking with meter positive lead on K3 terminal A1 and negative meter lead on K3 terminal A2.The 24V to enable K3 contactor is output from the Panel Unit on connector K8-10.
The relays on the Panel Unit are for E-Stop dry contacts for customer use, they are not part of the brake circuit.
The 24V for each of the 3 contactor A1 terminals all come from differerent circuits. See pages 15 & 16 of the controller prints. -
Could be a fuse or voltage issue as pointed out by Fabian, knowing which controller would help with that. Do the jumpers still work when put back in the other bot? Is the UI disabled in the config menu?
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Welcome James. Your M97A will use 3.0 or 3.1 software (3.2 if the controller has been upgraded). RobInstall is for loading 4.0 software. You should have a disk pack of 8 floppy disks and an additional key disk that matches the robot. The key disk will setup the software load from the disk pack. Hopefully the robots already have the software loaded. I suggest you start a new thread if you need more help.
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Yes. Self equalizing pnuematic guns will work fine, but you may need more if switching servo guns. Download and read this manual, it should answer your questions - https://www.robot-forum.com/robotforum/man…ch;attach=14258
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When you installed the 664, the system was able to read the 664 and know that it was the wrong drive type. This says the communication to the drive is probably good. When the 663 is put back in, there is no communication with it. Sure looks like the DSQC663 itself has a communication problem.
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If the K3 (brake) contactor is not pulling in when you jog the robot, then the contactor could be bad. Make sure the K3 coil connections have the correct wires and voltages:
A2 coil terminal has wire # 289, should be 0V and will ohm as shorted to the chassis.
A1 coil terminal has wire # 294 and will measure 22-24VDC when jogging the robot.The K3 coil resistance should be the same as K1.
If there is no 24VDC on A1 when jogging, then it may be the Panel Unit. Check Panel Unit connector X8 to make sure it is fully seated.Try jog the robot as little as possible when the brakes are engaged as it prematurely wears out the brake and power going to the rectifier is still going thru the in-rush resistors which will cause them to overheat.
Also note that the weight of the tooling will help the arm overcome the brakes when jogging down and resist going up. Gravity wins again.
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Had an R-2000i series robot years ago where the customer mounted a replacement wrist upside down. Noticed that when J4 was at zero, the J5 axis RV was on the wrong side. Was very surprised that it was even possible, but there was no keying to stop this from happening.
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I've seen something like this happen once that wasn't a mechanical issue. It was a 120ib with a RJ3ib controller in a welding application. The robot ever so often would be off in Z. You could adjust the robot back and it would be fine for a week or two and be off in Z again. We tried a lot of different things, replacing parts / electronics including swapping the entire arm out with another robot but the problem remained. Ended up swapping out the CPU board out with a spare and loading the imagine back and it corrected the issue.
Like c3ture, had one where software reload fixed the issue and the guys in the shop have also seen it before. All the other times have been mechanical/electrical. Does it seem like it's related to a specific axis? Wouldn't hurt to check the lube for metal dust. -
Haven't worked on an R-H in years but the 4020 alarm was common. Check the 100VAC to the drives and also make sure the wires to the drives are in their correct terminal location. Can't remember what the 0CF represents, but I seem to remember converting it to binary represented something.
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Did this happen when there was any other issues? If there is nothing physical restraining the robot, then it could be a brake issue. If you are NOT getting 24V to the brakes on just axis 2 & 3 when jogging the robot, make sure connectors are seated on the brake release board in the base of the robot. It could also be a bad wire harness. If you don't have one, there is a M98A IRB2400 Product Manual in the manuals section.
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In additon to HawkME's suggestion, you may also consider changing $SCR.$RUNOVLIM. It sets the maximum percent speed available when you execute SHIFT FWD on the teach pendant. The percentage range is 1 - 100, the default is usually 50.
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Lets assume that this is free and it is a lab toy, not for production. You will need the software now or sometime in the future for sure and a way to load the software, either a Fanuc specific floppy drive or an emulator. Another big thing is manuals.
It's very possible the old arm is worn and will not have the precision needed for some tasks. Repurposed robots that have been sitting also tend to have cable issues after a while. If it has the old Molywhite grease in the gear reducers, it has probably separated. Parts are very exensive. Electrically, the older technology uses a lot of boards with lots of aged components which may fail after short period of time.Even for free, the cost of the things you may need could easily become too high for something so old that does not give some sort of return. If you were getting 2 identical running robots for free where you could use one for spare parts and it had software & manuals, then maybe. It could be a platform to learn Karel on until you get a newer robot.
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The 4.0 r127 software recently had Servo Tool Change & SpotWare Equalizing added to run 2 new servo guns with tool changer. My task is to get the guns configured & running, configure to work with PLC & welder, write pick, drop home, etc. routines. When I pick either gun, they jog when connected & activated thru the routine and then they deactivate & disconnected great.
Problem is when I try to run the ManCalib or other related service routines, I get the missing name or gun not activated message in the attachment. The name in the gundata is good, even run the ManAddGunName routine after every reboot just to make sure. I have traced it to the active_unit stays 0 when running the function 'IsGunActive', even though the gun is activated and I'm jogging it. The other issue (which I think is related) is when in the Jog menu, going to Special > 5 Deactivate, the gun will not deactivate when selected and the 'Deact' key is pushed.
MOC file looks great. Hasn't mattered if I set the two mecunits to activate at start or not. For comparison, have another robot succesfully running the same software but with 3 servoguns, turntable, and other guns. Everything looks fine.
Sent backups & such to ABB but they can't seem to find issue yet. Anybody got a clue?
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In addition to the question from Lemster68, was this something that was already setup & the problem has just started or are you setting up external axes and just need to tune them?
Search for the 'Addition Axes' manual, 3HAC021395-001. It has lots of good information on tuning.
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Franco06
Some places have the process automated where they rarely even touch the pendant and controller. Others turn the mode switch to 'Teach', tap the ABB logo, select edit, select routines, change data, etc. and then switch back to "Auto", acknowledge the switching to Auto, press the Motor On switch and then press the play button. Not sure the level of automation you have for the processes you run. Is there no one at your facility that can give you a step-by-step on how to setup and run the robot/cell?RoboWeld
I was tired . I now remember the 25 year poster with the IRB6 looking robot & the "upcoming" IRB6400R. Our first robots were a pair of IRB6, a stg2 & a stg3. Couple weeks later did a week long master class on IRB90 mechanical rebuild and a second week of S2 component level board repair. Only saw one S1 controller only in Windsor, Ont., gathering dust about 8-10 yrs ago. Couldn't fit it in my car nor did I want to try to explain it to customs . -
If it was previously running and then quit, you can skip 1 & 2. Configuration should not have changed.
#5 is a matter of looking thru the various error logs for errors that should mention "power suppy", "voltage", "volt", "too high" or "too low".
Because the M2004 controller has many updates since it's inception, you should take a picture of the inside of the controller and post it. This will let us see which style of power supplies & servo amps are in your model. -
ABB has been selling robots for 35 years. You must very specific on what controller and software this is for.