I fixed the issue. It seems to be a bug in the software. I noticed that the only robot that it worked on used UTOOL 2 instead of 1. So I just made a tool adjust program and ran it for UTOOL 2. After I did that, I reverted back to UTOOL 1 and ran the original tool adjust program for it. It worked for some reason on all three robots after I did this. Weird.
Posts by dohlfhauldhagen
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Thank you for the reply. I'm not sure I understand what you mean by calling the mov_ref1 program again. I can't even get to the point in the tool adjust manual function to change my tcp frame. I have moved to the reference position and compared it to the position register. It is to the thousandth at the exact same spot. As for adjusting the precision, the robot compares it's position to a position register, not a reference position. I know that you can set the precision of a ref position, but as far as I know, you can't adjust it for a position register. And as I said, the robot was at the same spot to the thousandth. If there is a way to set the precision, then please inform me!
Thank you for the reply. I appreciate it.
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Hello all. I am working on a project that consists of four Fanuc RJ3I robots. I have been trying to set up the tool adjust manual function for the customer so that they can have an easier time touching up points in the event of a robot crash. I have been following the manual step by step. I make a program called MOV_REF1, I make it move to my reference position, and I record the reference position to a position register using LPOS after it reaches the point. However, I run into an issue when I try to actually run the tool adjust manual function. The robot will move down to the reference position fine, but when I try to move on to the next step, it says that the robot is not at the reference position! I get this error on 3 out of the 4 robots. Only one of them works. I have verified that I have the correct PR and tool selected when I start the manual function, and I have also compare the coordinates of my position to the PR to make sure that they are the same. I have talked to Fanuc a little bit about this as well, but they have been of little help. I was wondering if anyone else has run into a similar issue, and if there is a remedy if so.
Thank you for your time on this matter. I appreciate it!
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Hello all. This is my first time working on ABB robots, and I was wondering if you could help me out. I have 3 mechanical units: two trunnions which are mounted on a ferris wheel. All three can rotate. I need a way to monitor the angle of each of these units and send out a digital output to the PLC when the trunnions are at a certain angle. I have tried world zones with WZHomeJointDef, WZLimJointDef, and WZDOSet. These work for as long as the mechanical units are activated, but only one may be activated at a time.
The ferris wheel is kind of the master of the other two, and as long as that is activated, then the other two can be monitored by the WZ. However, when it is activated, it is not masked from the robot. In other words, there have to be values in the axis data, otherwise the controller will give me an error telling me to put data in the mechanical unit axis. Now I could manually edit every single point in my programs and make sure that they are all at the correct angle for each point, but there are hundreds all at different angles.
On Fanuc robots, there is an option just to mask out an axis for each program while still monitoring the angle. You can also set reference positions very easily that send out a signal when the trunnion is at a certain angle. Is there any easy way I can mask out the mechanical units from a program but still monitor the angle they are at? Please let me know if you have any ideas. I appreciate it! The controller is an IRC5 if that helps. Thanks!
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Hello all. I am working on a spot welding project for my job, and we are using four Fanuc R-2000iA 210F robots. There is a problem we have been having after a tip dress when using the wr_updat(1,0) program to do the wear down compensation. We only get it on one of the four robots. We get a SVGN-020 pressure shortage when it goes to do a press_motion[98] 80% of the time. There are a few times when it will randomly make it through fine, but most of the time, we get this error.
We have tried re-auto tuning the gun, as well as re-calibrating the pressure (We went from 5% to 45% torque when doing this). We brought in a nice pressure gauge that we know is very accurate to do this. We had to reload the robot with a backup image from one of the other robots a month ago too for other reasons, but that didn't fix the problem either. I have also tried to set up the two-step tip wear down program, but I just get an INTP-303 error when it tries to move from the first point to the second point. (This is from running tw_setup(1) after a fresh cap change).
Before we did the pressure re-calibration, we could manually put a 1 into the 98 pressure schedule for lbf when it would get the error and resume the program. It would get through it fine then. After the re-calibrations, we get a "pressure too low" error, and have to put a 100 in there. Also, we have tried putting new tips on, manually doing a gun zero master, and running the wr_setup(1) program.
This has been bugging us for months, and we are at a complete loss. If any of you have any ideas on how we could fix this, I would greatly appreciate it. Thanks!