Posts by kbekkala

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    Quote from SAABoholic


    you can just load the moc directly.


    To be honest I don't know another way to load the MOC...


    EDIT: Just found the utility/extaxis cfg files. I never installed the M7C1B1 file, which I'll do now. I have an SMB connected to X5 on connector board 1, and my ext axis is on Node 1 (X1 Y1 etc) in plug R2.SMB 1-2. Sound correct?

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    Now it won't even restore.. I select the backup, hit OK, and it beeps but nothing happens. Stays on the same screen.


    EDIT: I took a break, I can fix this by reinstalling the system with its standard MOC. Maybe I should try a DC2 + GT setup again, as an m2000 type B. Kind of shooting in the dark at this point!


    Does anybody have a overview drawing (not a block diagram) of how everything hooks together? Something like what I drew in the first post here would be awesome. Preferably with a DC2T rectifier. That would make me a happy man!

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    Okay, so I added back in the expansion board, axis board, and ran the SMB2 to port X5 on the expansion board. I have the ethernet cable originally plugged into connector board 1 X20 (Drive system 2), plugged into X20 on the expansion board.


    At first I booted and only had a few errors, now when I reboot it's back to the same handful.


    I'm super lost now! I'm going to try switching SMB ports now, using SMB 3-6 instead, copying motor axis 11 from Saaboholic's diagram. Would this be node 2?


  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    That makes sense, I'll try changing the names.


    So to connect another SMB, I do essentially what I said before, flip the SDI/Os's, but do it in the controller? I guess I could break it at the connector board easier than splice in halfway.


    Really wish the external axis manual had circuit diagrams in it, there's nothing laid out very clearly for this!

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    No luck today. I tried restarting with the bare bones MOC file, but as soon as I add "Mechanical Unit" I get the servots.c and IPOL type errors.


    Maybe this means I can't use the 7th node on the SMB in the robot base?


    I have another SMB, a dsqc 313, but I don't know how exactly to connect it to SMB1. Should I just splice into the cables in the robot base, flipping SDI and SDO around?


    Appreciate the help

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    I'm close! Stuck on this line:


    MECHANICAL_UNIT:


    -name "TURNTABLE" -use_run_enable "" -use_activation_relay "" -use_brake_relay ""\
    -use_single_0 "TURNTABLE" -stand_by_state
    #


    If I have this in the MOC file, I get a pile of errors like this:


    Internal log messages
    1. Error: rhaltts.c 314 os_sem_wait/safevt_rhalt failed 0208 22:57.15
    rhaltts.c 314 os_sem_wait/safevt_rhalt failed
    2. Error: puscfg.c 1323 Can't connect to the servo 0208 22:57.15
    puscfg.c 1323 Can't connect to the servo
    3. Error: puscfg.c 1344 Can't connect to the ipol 0208 22:57.15
    puscfg.c 1344 Can't connect to the ipol
    etc


    Here's my MOC file and Log from the latest revision. Maybe my servo is still wired incorrrectly. Any ideas?

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    Quote from SAABoholic

    Which robot type are you booting as ?


    I originally had the robot running with the "6 axis system" attached, trying to install "7 axis system".


    I just noticed that Type B is present in the 6 axis, not in the 7 axis. Is that what you're referring to?


    Thanks again for all the diagrams

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    Thanks for all the input so far Saab. I've been playing with it this morning, right now I'm back to a pile of joint collision errors because of the different rectifier.


    The controller works fine with the DC4 rectifier, but when I switch the the DC2T (and install corresponding system from robinstall) I can't move axes 3-6. This is without the 7th axis plugged in anywhere. I had the exact same issue with the DC2 + GT setup, the first time I try to rotate axis 6, but 4 & 5 will jump at the same time.


    This is why I thought the X2 plugin must be different, in a previous post.


    I should probably get the axes moving with the new resolver before I try to hook up the 7th. Any help with this? error log attached. I had to fiddle with the axis 1 cable to seat it, so log #50 is where I turn it on and start moving it (or attempting).

    69. 50052 Error: Joint speed too high 0205 20:36.59
    The speed of joint irb_5 is too high
    relative the ordered speed.


    81. 50056 Error: Joint collision 0205 20:37.6
    Actual torque on joint irb_6 is
    higher than ordered while at low
    or zero speed. Might be caused by
    jam error (the arm has got stuck)
    or hardware error.

  • S4C+ 2400L installing a 7th axis. Did I hook it up right?

    Thanks Saab,


    Confusing why they specify it's the X2 port, but I won't worry about it.


    I think all I need to figure out then is the smb hookup, I'll write out my thought process here.


    By this attached drawing ("SMB") I should have the two serial measurement boards, connected in series.


    The external axis manual says: the output from SMB 1 is the input to SMB 2.


    So the measurement cable comes from the controller to the robot SMB1, at port R2.SMB. The SDO and SDO-N from SMB1 (robot base), are flipped into SDI and SDI-N respectively on the external axis SMB2, both using port R2.SMB (on SMB Diagram photo).


    I'm a little bit simple when it comes to following wiring diagrams.

  • General help on adding external axis - S4C+

    Quote from Pcavan


    Just windering if any one been able to add the 7th axis
    I’ve spoken to ABB they told me it’s impossible it’s cheaper to buy a second robot control the axis 1 or axis 6 with IO boards


    Abb support really loves saying the only way to do anything is to buy, don't they? I doubt them when they claim things are impossible, we've solved a couple of things that they've said we can't fix, like computer boards - I think the term for that type of support is replacement artist, haha.


    Maybe 'cheaper' would be accurate just because parts are so expensive, I've had a lot of luck buying from factorysurplusdirect on ebay lately.

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