Posts by RoboWeld

    A "blast from the past" I was looking through some old paperwork and found a couple of stickers we had when i was part of ASEA UK service department before we became ABB Robotics in 1988, not sure if it was just a UK thing or used worldwide, maybe Skooter would know.

    Another option instead of using multiple limit switches on different axes is to have a single "home" safety limit switch that the EOAT "parks" against while the operator is loading/unloading the cell. Wire as previous answer that park OR gate switch need to be made to hold off the E-stop circuit. You could wire the switches into one of the many monitored safety relays available so at least your additions would be dual channel.

    You can prove it's not an external E-stop by linking them out inside the cabinet, just make sure you note what wires come from where when you disconnect the external wiring.

    IRB6 only used S1 & S2 controllers although the "/91" would indicate a 1991 model and I didn't think they were still building S2's by then as S3 came out about 1988.

    Maybe post pics of the robot and cabinet to help identification.

    In the early 1980s, ABB chose a floppy disk format that ended up not being the standard (IBM) a few years later (think VHS vs Beta). ABB stuck with this format until the S4 came out in late 1993.
    Try contacting the great folks at GRP and see if they still have the S2 floppy to CF or USB. See attached.

    I still have some new 5.25" floppies and cleaning disk I'm waiting to donate to a museum. I used to convert the upside-down full height 5.25" to half height and later on, the 5.25" to 3.5". The easy to configure Teac FD235HF series disk drives worked out well back then for both S2 & S3 replacement, Adept MC and Kawasaki AD too.

    I did quite a few 5.25" to 3.5" conversions, I am UK based and the only source of the correct 3.5" drives at the time was in the US so we had to import them.

    A couple of forums I use have the option to make a donation towards the running costs, once you have donated you no longer see the ads.
    I understand the need for ads to help with the running costs, but they do seem intrusive, maybe once admin have fine tuned the settings things will improve as it's only been a few days.

    Edit: just noticed all my "likes" given and received have disappeared, anyone else had this?.

    Go into MANUAL menu look for TCP and AUTODEF. Move the centre of the 6th axis to a datum pointer (I normally use a scriber clamped to something) I forget what the function is called above the softkey to press to record the start point. Move the arm away, re-fit your end effector and drive it to the same datum pointer then press the end/finish softkey. The robot works out the TCP offset.
    If you have an installation manual it should be in there.

    You don't say which control system you are using, but if it's later S3 onwards connect a key exchange access gate lock into the AS (auto stop) circuit which will stop the robot when the gate is opened and allows arm power control from the DMH on the teach pendant.

    I've loaded all the PDFs I have on the S2 robots. While I was on the road for an extended time, I wasn't able to protect many of our paper versions from poor decisions by others. Try an S3 programming manual as the programming is very similar.

    I still have quite a few paper manuals, although I did throw away the S1 manuals a couple of years ago :icon_smile: I just don't have a spare couple of years to scan them.

    The pushbutton above the emergency stop button on the cabinet will normally flash when the system has started, press it and it should stay on, if it doesn't there is an error which should be shown on the teach pendant display.

    Is your solution the best thing to do regardless of the welding robot brand and model, RoboWeld?

    It's nothing to do with brands/models, it's the process, I am used to high volume production welding and found the best option was to skip the weld via the operator HMI then send the part for post process rectification.

    I don't think that you have to go to 720k, just format it to 360k. I never used S2, but I imagine it has some command or function to format a disk. The robot would then format it the way it wants it.

    ASEA drives always seemed a bit picky over what they would read/write, such as they wouldn't accept some 1.44M 3½" discs, we had to use 1.0M discs! (try finding them)

    I think I still have a few 5¼" discs somewhere :icon_smile:

    As above, you stand a good chance of a poor weld if you try to restart, I did MIG/MAG welding robots for many years and found the best solution was to skip to the next weld and rectify post process with a human to assess whether the weld needs grinding out before re-welding.