Have you added Arc option to your system? If yes, just press "Next" until you find ArcL instruction.
Otherwise you have to create a new system and add this option.
Posts by roulv
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If you have IO Plus option on S4C+ you can connect to any device like a normal DeviceNet network. Without this option I think it's not possible, because you can't use CAN2, you can't have slave functionality and you can't connect to boards from other brands.
I think you can make your setup like this:
-Connect S4C+ in CAN2 connector. CAN2 can only be accessed if you have IO Plus option.
-Configure Address and speed for CAN2 in S4C+.
-Create a slave board on CAN2.
-Connect to IRC5.
-Configure IRC5 to connect to S4C+ as a board. For parameters you must use eds file that comes with S4C+ CD. -
Store option and signal at system failure option has been replaced by Safe level.
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All of you are looking for the wrong part.
SMB is the board inside manipulator.
SMBUS is a bus used inside the CPU motherboard for power control. You can search about it in Internet, because it's a standard for motherboards, not only for ABB robots.SMBUS is used, for example when you turn robot off. The problem you are facing is because your controller is not able to save manipulator and program data when you turn controller off, so when you turn it on again you lose every change you made and revolution counters..
The problem could be in your CPU, power supply or in the version of RobotWare you are running (new CPU with old RW version).
att.
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Here goes for M2000A
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sandeep if you want to have arcware option in other robots, you have to purchase these options from ABB.
What you are trying to do is illegal.
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If you don't have external axis there's a jumper to close ptc connection of additional motors. Look for XS33 connector "hidden" under a cover in the left side of the panel.
It's trick to find it the first time. See image. -
No, you only need robot license, which is different from previous keystrings.
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Can be a problem in your cabling, but most likely can be wrong configuration of the measurement channel.
Try connecting the resolver to all inputs on SMB. You can also try to connect to a robot axis and see if you have the same error. -
From RobotWare release manual:
Axis Calibration is released in RW 6.02 and are supporting following robots
· IRB 6700
· IRB 7600
· IRB 8700
· IRB 6650S
Axis Calibration
Axis Calibration is updated in RW 6.03 and now also support following robots
· IRB 6660
· IRB 6620Some robots produced at the start of this year and some in the mid of year.
Produced means when they are manufactured, not when you receive. -
To correct measure voltage you need to have load. This means you have to do measurement when you turn robot off and CPU is still on.
If robot is telling you that the battery is at end of life, just trust the robot and replace batteries. It's simple.
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You said FlexPendant but this error is from S4C+ (there's no FlexPendant for this robot, it's just TPU).
The battery mentioned in this error is not SMB battery.
It's the computer system battery inside the cabinet. This battery is used as UPS when you turn system off. In IRC5 robots this battery is replaced by the capacitor bank (Ultracap).Open your cabinet front door, at the bottom right of the panel there's a unit attached to the CPU. Remove screws and you have access to this battery.
Check battery revision. If it's <11 you have to change the full unit (battery + electronic components), if it's >=11 you can change only the battery. -
Robot models with pin calibration:
IRB 120, 6620, 6660, 6650S, 6700, 7600 and 8700.Only on new robots. Old robots of these models still use Calibration Pendulum. Except 8700 that were launched with new calibration from day 0.
In this video it shows calibration of the old 120, in new version you can use a automatic process to move the robot. RobotWare 6.03 onwards.
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Try to create the system from scratch (Create new system button). And add your new controller key and old drive key.
If your new key is not working contact your local ABB.When I add an option to the system, I usually create a new system, then make a backup of the new system and compare with the old backup. This way I can judge what have to be replaced in the old backup before restoring.
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I think it's not the battery. What is the alarm code?
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You will not loose any point. This is the main difference between Kuka and ABB.
In Kuka, if your robot move slight while off you have to put the device in the the robot and master.
In ABB you don't need it, because you are not calibrating zero, you are just setting the revolution of the motor. You can do that by eye because you have a full revolution of the motor to say that is the revolution zero.
You only need the special device to recalibrate when you disassemble the robot.More technical view:
All robots have a feedback device in each axis. This devices read the motor position.The problem is after motor there's a gear box with some reduction. This mean that one revolution of the motor is not one revolution of the axis.
When you turn one revolution of the motor you get just a small movement of the axis.So to calculate the correct axis position, you need more information, which is the current revolution of the motor.
Some robot brands use encoders that can give you the current revolution of the motor. ABB and Kuka use one single resolver where we don't have this information. So in ABB and Kuka the controller is continuous monitoring the resolver and every time the motor turn one revolution, the controller increment or decrement a variable with the current revolution. This way the controller know the current position of the axis and is called revolution counter.
But if you turn off your controller and release brakes, axis motor have been turned one or more revolutions and the controller is not monitoring. Because of that you lose revolution counter when you turn controller on again.
In ABB you only need to move axis to a mark and say to the controller that this position is within one revolution of the zero position. This is done by eye, there's no problem because if you put axis a bit to one side or to the other side, it's still inside the first revolution.
In Kuka you have to put the mastering device even if you only lost revolution counter, this means more time.
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I saw incorrect information, so some clarification and news:
1 - ABB robots have two different procedures:
-Revolution counter update. Update the revolution of the motor in relation to the zero position of the axis. There's a battery that backup this in the manipulator. If this battery is empty you loose revolution counter when you turn off controller. Revolution counter update is a simple and fast procedure, don't need any special equipment. Just align some marks manually by eye and enter in a menu option to update.-Calibration. Is the zero fine position. It's made on robot factory and is not normally done at the customer. You only make a new calibration if you disassembly a motor. For calibration you need special equipment (to be done the right way). For older robots, and some paint robots it's some device that lock the axis in position. For IRC5 robots, we use Calibration Pendulum, a special device with sensor that calibrate the robot with a routine. It's not easy like Kuka one. Last year ABB developed a new calibration method, but only for new robot models. I think this method is better than Kuka because it's automatic, fast, simple and cheap. You only need a pin that is put on the robot and the axis touch the pin, no special sensors needed.
2 - For external motors depends on the kind. Positioners have a built in routine that recalculate the positions for the interchange, track motions have mechanical devices. In resume you need something to lock the axis in position.
3 - We don't have Soft PLC option, we use multitask for that. It's the same language the robot use, but running in parallel and without motion instructions. With this option you can have up to 20 tasks running in parallel.
4 - We have a board called Panel board with discrete dual channel safety signals, you can attach any safety device here to stop the robot. There's is two inputs for global stop (GS and SS), one for automatic mode (AS) and one for emergency stop buttons (ES).
This year ABB launched SafeMove2 with Profisafe and CIPis planned in the future.5 - If you buy IO with the robot it will come with a DeviceNet interface card, a harness for DeviceNet inside the controller and a ABB DeviceNet board.
ABB robots can also have, Ethernet/IP, Profinet and ProfiBus. DeviceNet and Profibus need special inteface card connected to the CPU, Profinet and Ethernet/IP can be connected directly to the the CPU. IO is configured with RobotStudio or in directly in robot using FlexPendant. For Profinet and Profibus you need additional software to configure network. -
First check if your robot is a IRC5 (Programming unit have touchscreen)
Then go to robotstudio.com, download RobotStudio.
Install on your computer, and connect a crossover cable between your computer and service port (Ethernet port on front of the cabinet).
Then you can connect to the robot and edit your program. You can also create a virtual robot and program from there. -
This is an optional software that must be purchased from ABB.
If your robot currently don't have it, you have to buy the option from ABB. They will send a new license to you that is used to reinstall the system.
If your robot already have the option, then you must config your new task in "Controller" topic, type "Task". -
Try to replace SMB.