Posts by fuzco

HI everyone, I ´m working with a KRC2, someone know how to increase the number of softkey, used in the function gripper and spottech? Now I have only 16, I would like to add more. tnx

the problem was the axis 1,2,3 driver, It was broken, New driver and now I can work... until next problem....

Hi all, I have a problem with a krc 4 robot. I´m working with a cell than it has been made by another company. The robot doesn´t work and show this error number (kss26023 general servo error).
I check the cabinet, and the servo motor for the axis number 1,2,3 doesn´t work (the led are red). I tried one cold start, but the servo ist still in alarm.
I would like to try cold start with reload from file option, but I have some question.
1) this option is the same than is present in KRC2 , reload configuration file and send configuration to servo?
2) I reload only the configuration, or I reload all file from the active workvisual project? (will I loss the last program modification?) the last workvisual project date is 2015, and I haven´t a backup

after a cold start with reload from file option, can I reload an USB backup?

tnx to all.

I solved, tnx to all. the problem was a signal than come from a safety relay.
the problem is than the electrical drowing are wrong! and I couldn´t find the correct signal.
this signal is conected to the X13 interface.

Ok, I send the complete error list

I have this error on the robot pendant, I canfind nothing about this error, someone know Which input the robot need?

kss15101
Safe device Safety Interface Board SIB Extended(sION-SI Error at input 2)

tnk at all

If I have understand correctly, You would like to rotate your tool of 10 deg on the axis x. are you speaking about the tool defined X axis direction or the base x axis direction?

your software is rotating on the base x axis direction.

I think than you want to change your payload writing directly the register, you should use the $PLST_GRP.

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Ok, can you check when appear this notification? When the robot enter inside the if then else or after the final movement?

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Not too obvious, I was pulling your leg, anyway the problem is the robot must know where it should go, when this signal arrive? If the signals arrive before the robot start the approssimatig movement you can avoid this. If you move between the two points without the wait for, have you the same error?

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mhmmm Please, try to work a little bit alone.... The robot use to calculate the next position to move "smooth" between point, ok?
But what happen when the robot is moving, but the next position is not fixed know, but is choose by an input?
The robot must wait to move the program pointer until the next move is know, or wait until the input arrive.
In this case, can the robot approssimate the movement, if it must stop and wait for an input?

I don´t want to be rude.... but the robot is receiving signal from the PLC? are you sure than the PLC doen´t send MotorOFF signal? I spent 4 o5 hours to debug it, because the robot only check the rising edge of the signal, and no alarm appears, only "motor OFF".

I used this construction in my last program.
WaitUntil ((Input1 = 1 ) OR (Input2 = 1 ));

Hi guys, I'm commissioning my first ABB robots, Now everything is working, but I have also a strange problem.
When I config the MOTORS OFF input, the robot won´t work in automatic, It Doesn't care the bit MOTORS ON, it simply stay OFF and waiting for motors ON.
What is strange, If I disable the MOTORS OFF input, the robot work without problem, and also accept MOTORS ON input and LOAD PROGRAM INPUT.
The PLC output are ok, we tried also to disable the MOTORS OFF logic, but with the same result.
another question, the MOTORS ON output flickering at 1HZ when the motors are OFF, Is it normal?

thnx to all!

hi guys, I'm working with an IRC5 controller without the Motion supervision options. There a ways to set up the torque control, to avoid too much damage?, I've surfed on ionternet, but I found only how to configure the Motion suoervision option (MotionSup \ON\TuneValue:= 50

tnx guys.

ok, I have two options, the first is to make different loadata, and set it when I change the tool,
Example Loaddata11 , the load is in tool 1 and is calculate with tool 1,
Loaddata21, the load is in tool 1 and it is calculate with tool 2

The other is to make 2 or 3 different tool, with the same coords, but different load data, and use it im my program, the abb manual said than it´s also a good way to define the tool data.
Example tooldata1 tool 1 without load data
tooldata11 tool 1 wit load data

ok I´ll check....

is it a 16 bits word? I have always a lot of problem with big endian e little endian conversion.

I´ve found something on the manual, tnx guy!

Hi to all, We have a robot with R30iB controller, and we need to configure the 7th a axis. Everything come from fanuc, the controller has the encoder and motor plug, and the firmware Contain all options we need.
The axis is linear, and move the robot over a rail. Someone has idea how to configure it? Thanks guy

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Quote from SharplesR

Fuzco,

you don't need to load multiple load data at the same time. Instead, you create a grip load for every combination of held tools and parts, and use gripload based on the current combination of tools and parts.

I had the same idea, but what happen when you change tool? You need to reload the load data, because the load data is calculated with the current tool, not with flange tool.

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