Posts by SomeTekk
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From RS Help:
Setting the controller date and time
You can either set the date and time to the same as the network time server, or you can specify the date and time manually.Use this procedure to set the controller date and time:
In the Configuration group, click Properties, and then click Date and Time.
The Set Date and Time dialog box appears.
This dialog provides two options: Network Time and Manual Time.
Select Network Time and in the Time server address box, enter the IP address of the network time server.
Select Manual time and then set the Date and Time in the boxes provided. You can select the required time zone in the Time zone list.
I am almost entirely certain the option PC Interface is required.
An alternative, as long as fully licensed RS is available, is to run a Job (with Windows Task Scheduler) to execute the action Set Time.
Check out RS Help> Controller tab> Features for real controllers> Jobs -
Could the (option?) SoftMove be a possible solution?
According to the attachment Cartesian Soft Servo is possible.
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Looks to be a communication issue between the main cpu and the axis cpu.
My recommendation, since you've swapped main cpu's, would be trying a different Axis computer, then the backplane if needed. -
I believe the Superior Stop was reintroduced for SafeMove and the various versions that followed.
Also different stop modes are a function of a Control parameter:
SoftES
Soft emergency stop is activated by pressing the emergency stop push button
on the FlexPendant or the control module.
SoftES is only used in Auto. In manual mode, SoftES will be a category 0 stop
regardless of the value set in the parameter Active.SoftAS
Soft automatic mode stop is intended for automatic mode during normal
program execution. This stop is activated by safety devices such as light
curtains, light beams, or sensitive mats.SoftGS
Soft general stop is activated by safety devices such as light curtains, light
beams, or sensitive mats.SoftSS
Soft superior stop has the same function as a general stop but is intended
for externally connected safety devices.
... Superior stop was reintroduced with the IRC5 controller, had gone away after s3, skipping s4 generations. It is, in my opinion redundant and unnecessary. Consider also a "request to enter" switch for times when you don't need to have everything come to a halt right away, but at a good time in the process. E.g., in between weld seams in a mig robot, when stopping in process is bad for your quality. Other places have used a "controlled stop" button which will give a gentler, program stop input to the robot and machinery. When all comes to a halt, then you open the gate, which will give an auto stop. -
Unsurprisingly your request is outside my area of knowledge.
You may wish to check out some entries from GitHub for ideas.
https://github.com/ros-industrial/abb_experimental
Best o' luck!
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Sean - It will not be easy.
Check out this post:
https://www.robot-forum.com/robotforum/abb…ed-to-computer/
Good stuff here:
https://forums.robotstudio.com/discussion/982…ller-to-network
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Iowan - Do the IRC5's have the PC Interface option (616-1)? If so it can be done.
I have several S4C+ machines on our plant network. Curiously, the IRC5 machines we had came without the software required to backup files remotely. -
When I worked in an aluminum die cast facility we had a number of robot controls that had vortex cooling added when the heat exchanger was insufficient.
A Google search for 'vortex cooling' is suggested as one possible solution.
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It's been my experience that while resolver signal missing errors will not permit motion it will not put the control in a system failure state. If serial data is missing the control will enter a system failure state.
I concur with Iowan, another SMB try may be in order.
If the SMB cannot generate an excitation signal it may flag the control to invoke system failure. Since resolver pathways were checked, it might not be a bad idea to check continuity on the serial pathways. SDI, SDI not, SDO, and SDO not.
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Example
EIO_SIGNAL:-Name "vdi_BackupSignal" -SignalType "DI" -Unit "TrackSimBoard"\
-SignalLabel "Virtual Input for Backup" -UnitMap "57" -Category "Virtual"-Name "vdo_BackupSignal" -SignalType "DO" -Unit "TrackSimBoard"\
-SignalLabel "Out signal for Backup" -UnitMap "57" -Category "Virtual"
#
EIO_CROSS:-Res "vdi_BackupSignal" -Act1 "vdo_BackupSignal"
#
SYSSIG_IN:-Signal "vdi_BackupSignal" -Action "Backup" -Arg1 "SYSTEM:"\
-Arg3 "/hd0a/AutoBackup" -Arg4 0 -
Is QuickTeach what you are thinking of?
I do not recall if QT did online stuff.
I cannot be certain of its viability with C+ controls, still with that in mind the RW 5.15 Stand Alone Control & Additional Axis manual seems a good resource for learning about motor tuning.
I cannot upload the file, the ABB article number is 3HAC021395-001. If you Google "ABB 3HAC021395-001"perhaps it may be located.
If it is an ABB motor there may be a MUX00.cfg file in your load media with correct, or editable, parameters for loading.
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If all else fails ABB Robotics US MAY be able to assist.
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Hello,
It has been a long time since I dabbled with S4,
so I am really guessing here ...Misc.
SYSPAR
Control
AutoLoad ...You need to put those modules somewhere, using the
flexpendant explorer, reachable by the system during
a bootup, I don't remember the equivalent of the IRC5
hd0a. You will also have to add the correct path to the
module(s) irrespective of where they will exist.I think the USER'S Guide may help.
Good luck!
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Lots of data is needed for accurate answers to be delivered.
In conjunction with what SharplesR replied with has the load on the track been identified and added to parameters?
PART of a MOC domain, ROBOT parameter file for RW 6.X:
-base_frame_coordinated "TRACK_1" -base_mass 238.53\
-base_mass_centre_x -0.0221 -base_mass_centre_y 0.0004\
-base_mass_centre_z 0.1979 -use_lin_jog "ROB1" -use_reorient_jog "ROB1"\
-use_joint_jog "ROB1" -seven_axes_hp_motion "TRACK_1"\
-use_motion_process_mode "rob1_optimal_cycle_time_mode"Have you read the Tech Ref Manual for RAPID Instructions, Functions and Data types?
Which version of control is used?
Is the track an ABB track?
When the system was created was it done per the manual?
Have you tried tuning the external axis?Hint:
SoftAct[\MechUnit] Axis Softness [\Ramp]
SoftAct \MechUnit:=track, 1, 40 \Ramp:=100;SoftAct MAY not solve the dilemma faced.
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As there was no response about TCP quality, it will be presumed it is accurate, which presupposes that the manipulator in correctly calibrated.
The Shape Tuning Option could be considered if there aren't any reorientation issues.
1 Advanced Shape Tuning [602-1]
1.1 About Advanced Shape Tuning
PurposeThe purpose of Advanced Shape Tuning is to reduce the path deviation caused
by joint friction of the robot.
Advanced Shape Tuning is useful for low speed cutting (10-100 mm/s) of, for
example, small circles. Effects of robot joint friction can cause path deviation of
typically 0.5 mm in these cases. By tuning parameters of a friction model in the
controller, the path deviation can be reduced to the repeatability level of the robot,
for example, 0.1 mm for a medium sized robot.What is included
The RobotWare option Advanced Shape Tuning gives you access to:
• Instructions FricIdInit, FricIdEvaluate and FricIdSetFricLevels
that automatically optimize the joint friction model parameters for a
programmed path.
• The system parameters Friction FFW On, Friction FFW level and Friction
FFW Ramp for manual tuning of the joint friction parameters.
• The tune types tune_fric_lev and tune_fric_ramp that can be used
with the instruction TuneServo.Basic approach
This is a brief description of how Advanced Shape Tuning is most commonly used:
1 Set system parameter Friction FFW On to TRUE. See System parameters
2 Perform automatic tuning of the joint friction levels using the instructions
FricIdInit and FricIdEvaluate. See Automatic friction tuning
3 Compensate for the friction using the instruction FricIdSetFricLevels.More about Shape Tuning can be found in the Application manual Motion performance.
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How good is your TCP?
Use MoveC with the Function RelTool to enter exact numbers for offsets from a target.
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One possible reason it may not be as easy as it would seem is if the system is equipped with SafeMove2 AND the Keyless mode selector option.
See the attached image.