Lubrication:
Axes 1,4 & 5, make sure you measure the correct amount shown in the manual, I used a 200cc syringe.
Axes 2 & 3, cut the cable ties and collapse the bellows to access the ball screws, wipe clean, then brush on a VERY thin layer of grease, too much will cause overcurrent alarm.
Lubricant types are in service manual.
Posts by RoboWeld
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What size is the disc drive?, early ones had 5¼" and later went to 3½".
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Good news that you have power, the DSMC110 (floppy disc controller) board is showing a fault so that may be why you have the "508 disc memory" fault?.
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The drawings do take some practise to use, if something goes to another page it will have the page number after the } symbol. Also some of the drawings apply to more than one variant so check any notes at the side etc. that refer to a part of the drawing having 1)***** , 2)***** etc.
Unfortunately everything up to and including S3 systems used ASEA/ABB own language/protocols so a normal PC will not "talk" to them. I suppose you could re-wire it to become a dumb servo system controlled by PC based software, but I wouldn't know where to begin, the most I've done is build an external Axes 8 & 9 servo drive unit controlled by an S2 cabinet and that wasn't easy!.
Hope you make progress when the new DSSR115 arrives.
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Why are all.my posts gone?I can see 5 of your posts in this thread including the 2nd one with lots of pictures
Have you made any progress yet?
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Downloaded older & newer set of IRB6 Circuit Diagrams to Manuals section. Been a very long time since I've stood in front of an S2.I spent that many years installing, repairing and modifying them I doubt I'll ever forget them
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Posted the IRBL6-2 Description & Installation manual in the Manual section. Hope that helps answer some future questions about connections.Thanks for the link
Do you have the electrical drawings for the Irb6/2 to download?, I have all the drawings as hard copy and have to scan each page and post as a .jpg to help with fault finding on here, unfortunately I don't have a file sharing host as I'm too old to understand how they work
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When you say "recalibrate" do you mean synchronise the robot?, when you managed to get arm power on (top white illuminated pushbutton next to key switch) the yellow pushbutton (2 arrows pointing to a dot) should be flashing, press this (with teach pendant in it's pocket) and it should go solid yellow while the robot moves to it's synch position then go out once achieved.
I will have to sort out and scan the power supply drawings to post up, but that will probably be nearer the weekend.
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Congratulations on your first robot. It sounds like you have an S2 system, they were built up to about 1988 ish.
You cannot connect a PC to it as there is no compatible software.
Can you post a picture of the main rack in a power on state?, I've attached a drawing of the rack, although the board numbers may vary, e.g. the DSPC board went from DSPC150 to DSP157 over the years. -
Assuming this is a MIG/MAG welding setup, the shroud (cup?) is normally insulated from the contact tip/wire.
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Found the M92 IRB1500 Service Manual in our archives and uploaded it to georgetsag's old request for a manual. It also has some 160 positioner info with it.I've got most of the manuals for S2 & S3 systems, but they're all hard copy so I have scan each page to upload or e-mail
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And What do you mean by phase mismatch can you be more specific about it.
The old S2 systems used a separate control cabinet for large external axes and phase rotation was critical, I'd be surprised if modern systems still have the same problems?.
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Normally use program 10 for side 1 and program 20 for side 2
Program 10 – Activate side 1 (Axis
10 (*ACTIVATE SIDE 1*)
20 RESET OUTP 12
30 WAIT INP 12=0 MAX 2 SEC
40 JUMP TO 90 IF INP 12=1
50 SET OUTP 11
60 WAIT INP11=1 MAX 2 SEC
70 JUMP TO 110 IF INP 11=0
80 RETURN
90 STOP (*SIDE 2 NOT DEACTIV*)
100 JUMP TO 20
110 STOP (*SIDE 1 NOT ACTIVE*)
120 JUMP TO 50Program 20 – Activate side 2 (Axis 9)
10 (*ACTIVATE SIDE 2*)
20 RESET OUTP 11
30 WAIT INP 11=0 MAX 2 SEC
40 JUMP TO 90 IF INP 11=1
50 SET OUTP 12
60 WAIT INP12=1 MAX 2 SEC
70 JUMP TO 110 IF INP 12=0
80 RETURN
90 STOP (*SIDE 1 NOT DEACTIV*)
100 JUMP TO 20
110 STOP (*SIDE 2 NOT ACTIVE*)
120 JUMP TO 50 -
Thanks for the product manual
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Please post the product manual thanks, it may be useful once I've sorted the wiring.
We mainly use Irb 6xxx series with IRC5 controllers, I think we have about 700+ on site! and use the Irb 120's as training robots. We've just added a training area to our maintenance workshop and "acquired" the Irb 120 to play with
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You need to activate the external axes to use them.
Set output 11 to bring in KM1 (Axis 8), input 11 should go high (on)
OR
Set output 12 to bring in KM2 (Axis 9), input 12 should go high (on)
Do NOT try to set both outputs together, always reset one before setting the other, I can post some simple control programs to do the above if needed?.
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Skooter, thanks for the drawings . Looks like XS9 (safety) will be my main modification to make it a "stand alone" robot.
Sorry, there does not seem to be a "thanks" button in this section of the forum.
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We have an IRB120 on an IRC5 M2004 controller, a previous user has interfaced it to external equipment but left no record of what has been connected where does anyone have electrical drawings for the controller please?.
I believe it is Document No. 3HAC031403-003
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Are the positioners "L" type or indexing?, I've attached some examples.