Did you check all three phases ?
There was a system here that was able to run on only 2. The problem component was the MS116 automatic fuse unit (at least according the circuit diagrams), but on the global ABB site it is called a motor starter ...
Did you check all three phases ?
There was a system here that was able to run on only 2. The problem component was the MS116 automatic fuse unit (at least according the circuit diagrams), but on the global ABB site it is called a motor starter ...
I suggest contacting your local (country's) ABB office and request the RW you desire.
ABB makes money off the licenses, not necessarily off the RW.
In case you are in the USA:
robotics.support@us.abb.com
It has been experienced on the systems here MM Independent will result in another motion task. If that is the case your moc.cfg file will need tweaking, make that more like complete reconstruction. The sys.cfg will be changed as well.
I am, at best, unfamiliar with what ROS is.
Torque may also be read with ABB free software product TuneMaster, and its predecessor Test Signal Viewer.
Have you considered using the GetMotorTorque function?
There some questions that require answers before guidance can be rendered.
What type of backup; manual (created using the pendant) or automatic (using the backup system input)?
Could you please clarify what you mean by the phrase—"I want to read that name"?
There are shelf-mount IRB 6400s. Images of them can be found with Google Image search. Alternatively:
I'd post an image but ...
From another board that was posted on:
FileZilla Server is running on the device named
ToolPC: with a static IP of 192.168.3.39.
One HUGE tip, change the default welcome message to
%v
Also the most current FileZilla server 1.1XX software has not been made to work for ABB controls with RW 5.15. It is suggested to download and use
or later, or be willing to try and figure out with little FileZilla configuration information available how to get 1.1X to work.
Reworking of the SIO parameters will be needed for RW6.
SIO:CFG_1.0:5:0::
#
COM_PHY_CHANNEL:
-Name "COM1" -Connector "COM1"
-Name "LAN1" -Connector "LAN"
-Name "SER1" -Connector "SERVICE"
#
COM_TRP:
-Name "TCPIP1" -Type "TCP/IP" -PhyChannel "LAN1"
#
COM_APP:
-Name "StoragePlace" -Type "FTP" -Trp "TCPIP1"\
-ServerAddress "192.168.3.39" -LocalPath "ToolPC:" -Username "IRC5"\
-Password "XyZ" -MaxFileSize 150
Which version of RW is it?
In any case you will need to consult the parameter (I/O System) for the system input Backup, and (Communication) for Application Protocol.
See the documentation in RobotStudio under the File tab in the Help section.
Integrating measuring devices into robot controls is likely not for the faint of heart.
It may be worth considering having a PLC determine the mass then send appropriate signaling to the ABB control for program evaluation:
TEST nMassID
CASE 1:
GripLoad Wheel1;
CASE 2:
GripLoad Wheel2;
DEFAULT:
ErrWrite "invalid wheel id!";
ENDTEST
Additionally, this is from the RW 5.15 RAPID manual about the LoadID instruction:
***********
Usually load identification of tool or payload for the robot is done with the service
routine LoadIdentify. It is also possible to do this identification with this RAPID
instruction LoadId. Before loading or executing the program with LoadId following
modules must be loaded to the system:
Load \Dynamic, "RELEASE:/system/mockit.sys";
Load \Dynamic, "RELEASE:/system/mockit1.sys";
It is not possible to restart the load identification movements after any type of stop
such as program stop, emergency stop, or power failure. The load identification
movements must then be started from the beginning.
***********
The feasibility of this possible solution is not likely very high, due to RW version, cycle time, etc.
The routine "LoadIdentify" was able to be invoked in auto mode using late binding:
%"LoadIdentify"%;
Sorry I did not recognize the S4C designation until after the post. I am too far removed from S4C to recall if the Service Routines were available back in those days.
It can rightly be presumed more experienced people will respond, for the present investigate the Service Routine LoadIdentify, and the RAPID instruction GripLoad.
Some Service Routine info is in the Op Manual IRC5 w Flex Pendant - 3HAC16590...
RAPID Reference for GripLoad - 3HAC16581
ABB article numbers are based on RW 5.15... though depending on RobotStudio licensing they may be available for you there.
Consult
'Application manual
Servo gun tuning'
Section 8 'Calibration routine'
3HAC026820-001
They are the multi-pole Phoenix terminals on the Panel unit.
Does the entire IRC5 not start or just the pendant?
IF it is the pendant that is suspected perhaps a swap might help, or a pendant reflash.
Also, perhaps having your customer create & send you a diagnostics file that ABB can analyze might be of assistance.
It may be worth a try to ask the customer to clear the entire event log, and execute a Warm Start to see what type of events occur, especially in the hardware log.
There is a CR2032 battery in at least one type of controller, one with a DSQC639 main CPU, not certain about newer Main CPUs, or for different main CPU architectures, e.g. Compact, OmniCore, etc.
I believe its primary purpose is to support CMOS.
Here's the error that will be seen if the voltage drops too low:
37053, Low CMOS battery voltage level
Description
The CMOS battery on the computer board is empty.
Consequences
On restart, the system will use an erroneous setup or no restart will be
possible. (All that has been experienced here is a loss of date & time)
Probable causes
Faulty battery.
Recommended actions
1. Replace the CMOS battery
A tweaked example from the RAPID Reference manual worked at my place of work, granted it is a RW 5.15 system. Instead of writing to the screen it appends to a text file. It would take just a bit of tweakery to write to a different device.
PROC rReadIO()
list_index:=0;
WHILE list_index<>END_OF_LIST DO
ReadCfgData "/EIO/EIO_SIGNAL/Unit/PLC","Name",read_str,
\ListNo:=list_index;
IF read_str<>"" THEN
Open "ToolPC:"\File:="IO_Names.txt",io_DeviceName\Append;
Write io_DeviceName,read_str;
Close io_DeviceName;
ENDIF
ENDWHILE
ENDPROC
I have noticed the login behavior on the RW 5.15.XX systems where I work.
I've also noticed if I don't logoff the controller from the Authenticate icon in RS before removing the controller sometimes, which have yet to be narrowed down, RS throws an Exception.
jtCurrTarget:=0614_1550{1};
The value inside the curly braces could be a variable to allow varying target loading.
VAR num nArrayPos;
Stuff...
nArrayPos:=1;
jtCurrTarget:=0614_1550{nArrayPos};
More Stuff...
INCR nArrayPos;
jtCurrTarget:=0614_1550{nArrayPos};
Even More stuff ...