Thanks. Once we get a replacement laptop, I'll give it a try.
Posts by Stkshftr
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I had assembled a system in 2012 that allowed us to use an ABB 6400 robot as a wood milling station. Code was feed from a Windows XP laptop via Filezilla thru a USB connection made thru the service port on the S4C+ running M2000 (I think). The laptop finally gave up the ghost and a new file transfer mechanism is needed. I'm now retired (since 2016) and I'm trying to help out the firm I worked for, butt many of the details are a bit fuzzy. I'm also one person removed from the individual that I trained to do my job, who has also left the position.
My questions are; can a connection to the control be made to the control from a Windows 7/10 laptop? What is the nature of the setup that gets this done? Are the settings/connections the same (or similar) to what was previously used; PC address 192.168.125.90 with the same subnet, robot address 192.168.125.1, user name ABB, password ABB, FTP connection via Filezilla (or similar) thru a crossover cable to the service port on the front of the control.
Any help in getting this thing up and running again would be greatly appreciated.
Marv
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I trying to evaluate from a distance (2000 mi. away). Unit currently not under power. There may be other issues as well. I may let this one slide.
Thanks,
Marv -
To put this in context; the robot in question was clearly factory marked as a 2.5m 200kg. unit (both on the arm as well as the control). From what I've learned from using another 6400 is that the difference between a 2.5 and a 2.8 is a cast iron extension bolted to the end of the axis 4 portion of the arm. The cabling for axes 5 and 6 are long enough from the factory that no change is needed to accomplish the change. I think ABB did this to streamline manufacturing and allow for changes in the field.
The unit I am looking at clearly has this extension bolted in place. I believe the change was made to gain capacity only (no motor changes), so the factory calibration may still apply. I'm talking to a third party and don't have access to the original owner, so I don't know current status.
Thanks agin for the help on this,
Marv -
Skooter, when entering the fine calibration, they would be the same values as those that are posted on the arm? Should be no change from original, right?
Thanks all for the quick response.
Marv
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When changing the reach (4th axis arm length) of an IRB 6400R M2000 robot with a S4C+ control from 2.5 to 2.8m, what changes need to be made in the control to accommodate this.
Thanks in advance for any help given. This forum has been a wealth of info.
Marv
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We are considering an upgrade to our control (S4C+ to IRC5, 5.6) for an ABB 6400 R robot M2000. Buying thru an authorized ABB dealer. Has anyone out there done this and if so, what were some of the issues that popped up during the conversion?
Any help is greatly appreciated.
Marv
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I have tried to connect my Windows 7 laptop to the service port (ethernet) on the front of an S4C+ with no luck. No problem with Windows XP (via Filezilla client). I want to stream milling programs from the laptop and also 'see' the CAD models, but my current CAD/CAM software only runs on Windows 7. Any insights that may get me there would be greatly appreciated.
Thanks,
Marv -
We are considering the addition of an ABB welding positioner in our robot environment, but have no experience in the area. Thought is that it could be used as a 7th axis rotary table for milling wooden objects. Our current system is an ABB 6400R with S4C+ control running Robware OS 4.0. We are already milling parts in wood with the robot, so we've got the means for robot code generation in-house. We just need to know if what we're proposing is feasible, or is this the beginning of a bad dream?
If possible, what hardware bits are needed to make this work? Our control is pretty much standard issue.
Thanks in advance.
Marv
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We are having a problem running programs in auto mode. Sometimes in the middle of program execution, the robot will simply stop. Message on the TPU says that it has lost communication with the control. No amount of fiddling with the TPU gets any action from the control.
After turning the control off and then on again, the message I get on the TPU is; "The system data was not saved during shut down. All modifications of programs and parameters since FEB 24 are lost. Select action:" Options are Restart, I-start or X-start. After the restart, an error message reads that the Rev Counters are not synced.
Just to be safe, I have been starting from a restored back up made recently. I should mention that this shut down has also occurred while the robot was in auto mode and waiting for the next program load. I have noticed that when the shut down occurs, there is an audible click from the control, as if an electrical contactor was dropping out. I'm still able to run in manual mode after start up without any of this happening, so I believe it is only an auto mode issue.
Can anyone give me some direction on a fix; is there a parameter that needs to be adjusted, or is it likely related to a failing part?
ABB 6400R M2000 S4C+ control. System is used as a 6 axis CNC to mill wood parts.
Thanks for any help on this.
Marv
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First, to all that reviewed this topic and particularly those that responded, thanks. This place has broadened my understanding of robotics in general and has provided specific solutions to issues I've had in the recent past.
Unfortunately, we've not recovered from my earlier crash; I reset the calibration values when the arm was in position and the factory values aren't working after restart (I've also reset the resolvers). What did seem to work initially were calibration offset values reset to zero, until I realized that there had been a slight shift in my programs. The shift occurred in axis 1 (which I had not changed from factory setting as initially I didn't think that had been affected). I have restarted using an earlier backup but that has not resolved the issue. And checked the condition of the batteries (installed new 1/03/13 and fully charged).
I'm beginning to think our erratic electrical service may have toasted something in the control. In any event, I will be looking for someone who can do onsite service. If anyone could recommend an independent tech who is familiar with this system and services the western New York state region (USA), I would greatly appreciate it.
Thanks again,
Marv
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We use this robot for milling wood pieces and have had no issues for a while. Recently, in the middle of program execution, the robot simply stopped.
TPU stated it had lost communication with the control. The control was turned off and after some time was turned back on. After the restart, I got a message that the control had lost the calibration values. I was able to jog the arm away from the work and moved all axes back to the calibration position (aligned all the vernier scales for an approximate location). I then replaced all the calibration values in the parameters (factory settings that were correct before the issue) and tried to reset the rev counters (resolvers). After a restart, no change.
I tried to run the calibration utility, but got the error message #50140 "heavy payload caused static torque limit to be exceeded on joint rib_2". The robot is rated for 150 kg. and I'm running a 50 lb. spindle, so I don't think I'm stressing the machine. And it wasn't a hard crash; the communication between control and manipulator just quit. The remedy accompanying the error stated that I should "reduce the payload or reduce the working range to decrease the static torque due to gravity". And now I can't move the arm at all.
Having checked the values in the parameters and in the jogging window, its clear that axes 2, 4 & 5 are out of working range; in jog mode in calibration position, the values for axis 2 is 331.6º, axis 4 is 313.7º and axis 5 is 121.3º.
The system came to us used a little more than a year ago from a reputable dealer with new batteries (amongst other things), and I've scoured the manuals trying to find a solution, but to no avail. Work is backing up and the boss is not pleased, so any help would be greatly appreciated.
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I have elected to physically change my spindle mount and have changed the robot back to the original calibration value in axis 6. I used an inexpensive digital angle measuring device to align my spindle to within .03º (by my calculation) of axis 1, which is close enough for my purposes.
Thanks to all those who responded as this has broadened my awareness of how these robots work.
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No. The CAM software is from Norway, now distributed and supported in North America.
I'm in the process of verifying the location of my spindle. Will know if I got it right on friday.
Thanks
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Tyler,
You're correct, the CAM software references tool data t1 in the post and also spits out offsets and axis rotation for the spindle. I misspoke regarding the reference to the calibration.Also, my error is .6º, but in the negative direction relative to tool0. I presume this only changes q4 to a negative value?
Thanks for the help. This has been a real head scratcher.
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We are starting to mill wood parts using an ABB 6400 robot with M2000 S4C+ control. However, I've traced an error in the spindle alignment to the 6th axis. The machine was purchased as a refurb from a reputable source and after checking the control, all axis are synchronized and calibrated (numbers on the body of the machine match those in the control). And my spindle mounting plate was fabricated from a reputable machine shop (I have no means of checking their work, but I believe it was accurately done). The error is .6º about the Z axis centered on tool 0.
My approach to resolving this would be to change the angle of tool 0 in the parameters, but the manuals suggest this might give unexpected results. I currently have no saved programs, so a change wouldn't affect anything we've already done (we're still getting our workspace dialed in). And I'm programming my tool paths in a dedicated cam software that references the machine calibration and not programming anything directly in Rapid.
I'm hoping there is a practical solution to this that won't require reworking my spindle mount. Any help would be greatly appreciated.
Thanks
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I'm looking to establish a peer to peer connection between an S4C+ control and my HP laptop running Windows 7. I've been advised that a connection to XP would be much easier. I've tried using a patch cable connected to the internal RJ45 port and Windows 7 to no avail. The control doesn't have extended ethernet services enabled. I presume others out there have done this? Would virtual XP work?
Thanks in advance.
Marv