Try posting the question in the manuals section - https://www.robot-forum.com/robotforum/man…for-abb-robots/
There is a link for an Irb1400 S4 manual in there, might be a smaller arm but the software is the same.
Try posting the question in the manuals section - https://www.robot-forum.com/robotforum/man…for-abb-robots/
There is a link for an Irb1400 S4 manual in there, might be a smaller arm but the software is the same.
I normally fit a guard locking switch in those situations so the operator has to request entry (pushbutton etc.) and the robot released the lock when safe.
Example: http://ab.rockwellautomation.com/Sensors-Switch…ocking-Switches
ABB has been selling robots for 35 years. You must very specific on what controller and software this is for.
You can go back a bit further ASEA (later ABB) launched the world's first electric robot in 1973! those S1's could be a bit of a pig to work on
It is a similar process to TIG welding but instead of the arc going from electrode to workpiece it is generated inside the nozzle then forced onto the workpiece as a plasma jet of ionized gas creating an autogenous (no filler material) weld . It is a very precise process critical of voltage, current and travel speed settings so is ideal for robot use. You do need a very accurate and repeatable presentation of the parts to be welded or it tends to melt the edges away instead of joining them.
Good explanation here - https://en.wikipedia.org/wiki/Plasma_arc_welding
If you define PANEL I/O for example, it will allocate a block of 8? inputs to the function and move the rest of the inputs so they start at Input 1 on the next bock.
How to set them up is in the installation manual.
What cards are fitted?, DSQC 223?. Is it just one card position that has the fault?. If you link the outputs to the inputs in sequence you can run a test program to check them. There are various ways to define the I/O, SYSTEM, PREDEF, PANEL etc. have you changed any parameters?.
If you give the system serial number to your local ABB service centre they should be able to help.
There should be a 4 digit subcode after the fault message 562 ERROR/ROBOT DRIVE UNIT xxxx if you post it I may be able to identify the fault.
I had to do a service call on a couple of ABB press tending robots many years ago, the customer wanted to do their own programming so gave control of the press to the master robot, unfortunately it never checked if the slave robot was clear before turning the press over - oops
I had to change the complete upper arm and wrist on the squashed robot.
If you measure the diameter and the pitch, you should be able to identify it using a Zeus book - http://www.ebay.co.uk/itm/Zeus-Preci…s-/310893777034
I've worked with both types of robot, mostly in MIG/MAG welding, the big advantage of the ABB system is the joystick which allows you to look at where the robot is when programming instead of having to keep looking at which button to press when jogging.
That's good news, thanks for letting us know
I'm not sure how the S4 setup works, but on earlier systems, you could set the scaling factor up in the parameters. The robot sent 0 - 5 volt signals to the weldset to control current (wire speed) and voltage. So for example if the weldset could produce 300 Amps, you would scale 0 - 5 volts = 0 - 300 Amps so when you request a 200 Amp weld on the display it would send the relevant control voltage to the weldset. To scale it accurately you would need a load bank and ammeter across the weldset output.
....Then I change ( + and - ) on the welding equipment and set 25V and I see not perfect but also seam.Отправлено с моего iPhone используя Tapatalk
It should be "+" on the torch and "-" on the work return (earth)
What was it, a bad earth connection?.
If it is roughly the same position every time, I would look for a broken cable core (motor or positional feedback). It will take a while, but you need to check each wire on Axis 3 for continuity, once you have the meter showing resistance, move the cable by hand to see if the reading changes.
I'm not sure what readings you will get across the resolver as it's probably been 15 years since I "played" with one!. The resolver has 3 windings (6 wires total), 2 are fixed and the 3rd is turned by the shaft so you may get a different reading on that one?.
It sounds like the main issue to sort first is the axis 1 rev counter problem, once all the wiring has be proved OK, you may need to substitute a known good one.
Please excuse me if I over simplify things, but I don't know your skill level.
506 servo error 2 (2004) is Axis 4 resolver, you need to measure the resistance, probably best to start at the base connection/plug and compare the readings with another axis resolver. Drawings should be in the manuals section on here.
The 7001 message can be discounted for now as it's just a time-out (the arm has been commanded to move but nothing happened)
509 Sync error 2201 is Axis 1 rev counter missing, so again you need to check the wiring, start at the base connections and if it's OK work your way back to the cards in the cabinet. Did you update the rev counters with the arm in the sync/calibration position?.
Remember to remove mains power from the cabinet before disconnecting any plugs for testing
Not enough current by the look of it, try about 28V and 6m/min for a start then increase.
Handy guide here - http://www.esab.com/gb/en/support/…cketguide-2.pdf
First, your test piece needs to be clean, remove the rust with a flap disc grinder. What size welding wire are you using?.