Look at the manufacturer of the welder website. Some have software that track everything about the weld from cradle to grave.
Posts by 95devils
-
-
The external reference point is based off of the user frame. When you teach the user frame you will teach the ORG, XX, and XY.
The robot will rotate about the origin of the user frame when jogging in external reference point. The controller will calculate the path and rotations based off the user frame when using EIMOVs.
-
If you know the welding speed and the time the weld takes you can calculate the length.
MotoSim EG-VRC simulation software can tell you.
-
Any messages about a safety logic circuit? Do you have a FSU installed?
-
Wadding up the drive means the harmonic drive has twisted the physical components of the drive causing the positions to be off. I am assuming the robot has harmonic drives on the upper arm since you are arc welding.
Changing the second home position doesn’t do anything for the problem. The home position would need to be changed. I would figure out if the drive was damaged before changing the home position.
-
Ethernet I/P is a software option (at least in the Americas). It doesn’t come turned on by default from Japan.
-
Probably wadded up the B-axis drive. Harmonic drives don’t survive big crashes.
-
I've seen examples of what I'm trying to do:
/JOB
//NAME TEST_JOB
//POS
///NPOS 1,0,0,0,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
C00000=500,0,100,0,0,0
//INST
///DATE 2023/12/06 10:43
///ATTR SC,RW
///GROUP1 RB1
NOP
MOVL C00000 V=200.0
END
I get an error 3190[4] when I try to load this. From what I gather, this means I need the relative job software option?
Yes. Even then with a small robot you will get an alarm with that position based on the tool angles.
-
The controller is telling you it can’t calculate a parabolic path based on the three positions. The middle MOVS position has to be within 25% of the calculated mid-point of the first and third position.
Do you get the Alarm 4441 with just the three MOVS in it? Sounds like you did.
-
What exactly happened when you used PAM? That’s what PAM is designed for.
-
According to MotorSim:
S 120724
L 164864
U 123904
R 89599
B 74151
T 31539
-
This is a tough one. I'm assuming you are arc welding. How are the programs taught, pulse counts or XYZ?
Assuming pulse counts the position is the position, it could care less if there was tool data or not. The controller will calculate the path of the TCP in a MOVL, MOVC, or MOVS. So with new tool data (assuming default flange vs a torch) the path could change slightly. Assuming also that you are not doing coordinated motion. Programs taught in XYZ are a whole different ball game.
Since you mentioned weight, Xg, Yg, and Zg I'm assuming this is a XRC or newer. The tool data is also used interference areas that are XYZ, possibly the functional safety unit depending on what features are used, etc... So you have to do all your homework before changing the tool data. You mentioned searches and TAST (I don't know what that is), so you're probably shifting. The coordinate system for shifting needs to be verified. Shifting in tool before vs after.
Assuming default tool data vs a torch with an angled gooseneck I would NOT use PMT. PMT will basically convert your jobs to XYZ based on the old tool data, apply the new tool data, then convert the jobs back to pulse. With an angled gooseneck the arm is going to rotate 45 degrees (assuming 45 degree gooseneck) and then some. Currently, your positions are the encoder count position. You have the position.
-
DX100 is too old. Angles are done manually.
-
-
-
Is this sequence correct?
Was working manually.
Loaded a job. No longer working.
Loaded file(s) from IO Data into the controller.
Still not working.
What files did you load under IO Data? CIOPRM.LST?
-
One to many F’s in the SWVOF instruction.
-
What generation of controller? YRC1000 and most DX200s can give angles. In the calibration screen there is a method. The options in the drop-down are COORD, COORD+POSTURE, and POSTURE.
-
Better to be safe than sorry. Batteries have a shelf life of 3-5 years and are good for 3-5 years. I change mine out every two years. Other equipment calls for two years so I do everything at the same time.
The controller manual will say 36000 hours. This is the same amount of hours it says the robot needs to be overhauled. Definitely would not wait that long.
-
Yes, MotoSim is capable of Relative Job. Relative Job will only be available on your virtual controller if:
A). You loaded the ALL.PRM or particular files from a real controller with Relative Job turned on.
B). You turned Relative Job on manually through a text editor or parameter editor.
MotoSim is creating an accurate syntax job so there is a header that can be changed manually.
You can use Excel to input positions, save as a CSV, and load into a MotoSim job.