The manual does a mention that the voltage must not be less than 2.7V and voltage ideal is 3.6V . Normally Lithium battery is not rechargeable then if it has not the right voltage is necessary to replace it. The right measure is done when, turn off the robot and take a measure in the X81 and X82 connectors on the backplane.
Posts by luanfale
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You can use the INIT push-button located on the backplane. It will do the same action as switching power on.
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Any supervision messages? Weird... At first sight, it like that there is not DI_Weld_OK signal present.
Is the supervision is enable? What is the version of baseware? Arcware?
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If my memory serves me right, the number of stations depends on the additional option, like a external system drive. Normally its name begins "3HEA...".
Then, when your system is compiled the base system is prepared to supply the number of stations.
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Weird...
I did a little test in my Robotstudio and it worked.
MODULE MainModule
VAR wzstationary wzstat1:=[0];
PERS pos pos1:=[450,-715,500];
PERS pos pos2:=[1100,150,1300];
VAR shapedata shape1;
PROC main()
MoveJ [[763.86,-198.73,1013.43],[0.178597,7.96472E-06,0.983922,-8.44815E-06],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
MoveJ [[763.85,783.78,1013.42],[0.178598,8.83062E-06,0.983922,-8.07209E-06],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v1000, z50, tool0;
ENDPROC
PROC rWz_routine()
WZBoxDef\Outside, shape1, pos1, pos2;
WZLimSup\Stat, wzstat1, shape1;
ENDPROC
ENDMODULEI created the event routine with the follow parameters:
Event = POWER_ON
Routine = rWz_routine
Task = T_ROB1
All task = NO
All motion task = NO
Sequence Number = 0My RobotStudio Version is:
RobotStudio 5.15.02 (64-bit)
Version 5.15.5405.2005 -
Would be better double check what was the problem on safety door, there is a short-circuit risk on the circuit.
1 - Check the input voltage;
2 - Replace the Flexpendant;
3 - Replace the power supply;
4 - Replace the CPU;(if you have other controller)
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There is a parameter to configure this issue.
When you are defining the UNIT on Control Panel, configuration, I/O , Unit , has a option UNIT TRUSTLEVEL. Only valid when controller is the master.
In short;
0 - report error
1 - report error
2 - No report erro and stop program when access the IO lost.
3 - No report error.Maybe you need to change other parameter - Unit Startup state and use rapid instruction (IOEnable, IODisable) to activate the connection.
This is normally used to tool changing. -
I've never had seen the file ".kdx", normally when the robot is purchased the key number is on back of the cd and it used to create a new system.
The key number has all information about the standard options defined during the purchase.
if is necessary add something, ABB send a file ".kxt" and it is used to create the option during set up or full new system.
Do you really have a kdx file?
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Did you configure the worldzone routine on the event routine "POWER_ON" ?
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Yes, There is an condition Reset into control panel, Configuration, Topic Controller, Auto Condition Reset, AllDebugSettings.
If the RESET is YES, the PP is going to MAIN for all tasks, all task are enabled, speed is set to 100% within other things, inclusive
All I/O signals simulated are removed. -
As you said, GetNextPartAdv has a structure.
GetNextPartAdv(
num station,
VAR partadv retData
\INOUT num statusCode)To use this function is necessary to make up the variables in the task which use it. For example
LOCAL VAR num retCode1;
LOCAL VAR num retCode2;
LOCAL VAR partadv padvTmp1;
LOCAL VAR partadv padvTmp2;Then it can be used like,
GetNextPartAdv 1,padvTmp1\statusCode:=retCode1;
Returns to the "retCod1", 0 to station OK, -1 no part selected for station(path proc name, taks list etc) and -2 no parts partadv (procAngle, load etc)
after the function, the variable retCode1 will have a value and could be used to do a decision.IF (retCode1=0) THEN ...
Follow the structure of:
PartData:
RECORD partdata
string pathProcName;
string description;
string taskList;
byte validStation;
num plcCode;
string Image;
string advPart;
ENDRECORDpartadv:
RECORD partadv
extjoint procAngle;
extjoint loadAngle;
extjoint serviceAngle;
loaddata Load;
ENDRECORDIn short, the variable "statusCode" must be in the task which control the IRPB to receive the values and you can check which task controls IRBP looking to the backinfo file.
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Are you using production manager? some robotware option?
If you don't mind, shares a backup here.
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Show us your reasoning, routines... to help us to understand. Maybe there are another way.
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Hi Tero,
See your e-mail.
Thank you.
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Do you have another TPU ?
Did you re-install the system?
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Did you notice which contactor turned on? Did you move the joystick to release contactor K3?
When you turn on "motor on" the contactors feeds 24vdc to brake system, Fan and DC link power...
The error 20306 says about FAN 2, normally a fan damage not result in restart error but better check it.
You can remove the wire 301(brake) on the auxiliar contact 22-21 on K3 to isolate a possible short circuit on the brake system out panel.
You can remove the wire 341(fan) on the contact auxiliar 7-8 on K3 to isolate a possible short circuit on the fan system.
you can remove the wire 299(motor on lamp) on the auxiliar contact 44-43 on K2 to isolate a possible short circuit on the lamp. -
Follow attached. I think this can help you.
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Hi,
Welcome to our world! Fell free to share experiencies in this place!First you need to solve the fault 536 34 and then we'll see if the 536 21 goes out.
To execute commutation procedure follow the path:
1 - MAN (The key which seems like a hand or finger on Teach Pendant)
2 - PARAM
3 - RESOLVE
4 - COMOFF
5 - AXIS NO = 1~6
6 - ENTER
7 - UPDATEThe main idea is that, when you have IRB2000 the commutation offset depends on the each motor. These values should be in the label on the robot so you can introduce it through the path above. If not is necessary to align each axis in the commutation position. There is a mark in the brake plate and other mark on the fixed part of the motor, both marks must be align to execute the commutation reading. The second way is harder because the axis 1 is under the robot, the upper motors are in the bad position and so on.
Fisrt you need do this, let's go see the result!
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welddata, weavedata, seamdata are used on system which has Arcware installed. They are done statements into modules. The PLC won't call it.
For example.
%%%
VERSION:1
LANGUAGE:ENGLISH
%%%MODULE WELDPROG
PERS welddata wd633:=[3,6,0,0,0,0,0];
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.
PERS weavedata wd005:=[2,0,1,3,0,0,0,0,0,0,0,0,0,0,0];
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PERS seamdata sm2:=[0,0,0,0,0,0,0,0,0,0,0];
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MoveL [[941.42,-283.88,1323.46],[0.140435,0.355782,0.923745,-0.019819],[-1,-2,0,0],[9E+09,9E+09,9E+09,9E+09,-63.6429,9E+09]],v200,fine,tool1;
MoveL [[1070.59,-441.12,793.49],[0.214522,0.382597,0.890751,-0.119011],[-1,-2,1,0],[9E+09,9E+09,9E+09,9E+09,-63.6422,9E+09]],v200,fine,tool1;
ArcL\On,[[1167.93,-554.62,692.5],[0.212744,0.389573,0.893955,-0.061794],[-1,-2,1,0],[9E+09,9E+09,9E+09,9E+09,-63.6409,9E+09]],v500,sm2,wd005,wv1,fine,tool1;
ArcL\Off,[[1167.9,-521.64,692.5],[0.212751,0.389594,0.893946,-0.061772],[-1,-2,1,0],[9E+09,9E+09,9E+09,9E+09,-63.6409,9E+09]],v500,sm2,wd005,wv1,fine,tool1;ENDMODULE
What is your real difficulty?