Where is tool definition saved? If I have a tool that's program-specific, I'll save it in the module w/ routines, rather than in User.
Posts by Iowan
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A couple of things come to mind. If there is a counter that keeps counting up, it could be a bad pendant connection. I don't remember the "waiting" message or which which controller it was, but I've also had a corrupt
.imgimage.bin file cause similar problems... -
Just to verify...
You are able to drive robot around in joint mode? -
Here's a couple - they will need to be saved as .mod files.
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I recently had a similar problem on IRC5 - 4400. Replacing the drive unit (amp card) solved our problem.
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What vintage controller - S4 (C,C+), IRC5?
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You may still notice some hesitation if you have subroutine calls.
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On a 4400, we got "some" adjustment by loosening motor bolts and adjusting backlash. When that didn't take out all the backlash, our ABB tech recommended replacing the motor.
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What model? Is fifth axis motor back at the elbow?
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Looks like a transformer until you get close, then it's obvious that the battery door is the same as the one on the robot. Replaced those "Use by 2014" batteries, and the error went away. Now to re-master the wall.
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I have a robot with an external axis (rotating wall). It has been unused, but powered for several months. Today it generated the BZAL G2/A1 alarm. Connector was oily, so I cleaned it up. Batteries in robot are 2 years old, so I replaced those. Reseated all the connectors on the external drive module, which eliminated the BZAL (after resetting variable), but it came back as a BLAL. Now it's back as BZAL.
Is there a separate battery for external axes? I see a battery cover on the module, but no connections underneath.
R30i-A/M16i-B
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Perhaps I'm misunderstanding the question...
I've used VelSet at the top of routines to adjust the speeds in the routine and VelSet 100,5000 at the bottom to normalize things before exiting the routine. (Hadn't heard of SPEEDREFRESH before). -
I've had SMB cables cause that fault, but I've also had more than one SMB fail. Swapping the SMB should be your next move.
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yes, i have backup fileThat's a good thing...
If you cannot find the differences by checking the files, you can probably* save the current config file under a different folder/name and reload the backup.
(*I have little experience w/ IRC5 and less w/ compact controller) -
A quick survey of the SYSPAR folder in a machine showed the -Act1 in the EIO.cfg file - more specifically, in the EIO_CROSS: section.
YMMVDo you have a backup file you can check?
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If it's of any benefit, I've attached the MOC.cfg from a 7th axis machine.
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Sounds like something you should be able to get from ABB.
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Check the calibration. If it lost rev counters, you will be able to drive it in joint mode (only).
The error log will give you a better idea of what actually failed. Sometimes the problems cascade: We had a robot break wires in the cable near the elbow. Eventually, this made the SMB fail. Changing the SMB caused the SMB cable to be damaged. Usually (not this time...), the connector is corroded and disintegrates. -
You can re-calibrate a single/multiple axis by selecting it/them and updating rev counters (at least on S4C(+). Why do you need to "un-calibrate" a robot? Unplugging the SMB and moving an axis is another way to lose calibration.