Posts by case25
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Hi,
i have robot from this thread: TPU contact lost
After almost 2 years of welding i have problem that i haven't seen before and cant find the tips about it.
Since friday, after power on, sometimes i have fault TPU contact lost and sometimes it is hangs up on information Welcome in the S4 controller (which indicates no contact between TPU and CPU (?)).
It is strange, because I disconnect batteries and I can install new system without problems (arcware, parameters, program) - everythings work - UNTIL I power off and power on again - hangs up.
What i checked:
- Connection of TP - cables, plugs - OK
- replaced main CPU DSQC325 - no changes (I can install the system, later hangs up)
- replaced axis CPU DSQC326 (I put eeprom from my dsqc326, because i have only one pair of them) - no changes (I can install the system, later hangs up)
- batteries are both 3,62V
- replaced memory DSQC 321 - no changes (I can install the system, later hangs up)
Interestingly, i can do a P-start, or system restart from File menu without problems. I can't just power off.
Now I'm waiting for the new EEPROMS to check out.
Thank You for your help.
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After correct installation of the system the error should't be displayed. Only synchronisation/resolver errors. Otherwise the problem may apply eeproms or system computer.
Is the LED on main CPU lights up green? On addon cards the led doesnt matter before configuration of the system.
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Thank You Scooter for the help again. I will try this solution, but now i've changed original servo to my own servomotor with driver and will be controlled by 0-1 signal from the robot.
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There is ELMO PS 90/6-79-T-LSS 4 AC Servo motor in my MHA. According to schematics it has a resolver connected to SMB of IRB 1500 (DSQC 253, X5).
Only thing i don't know is where i have to connect resolver of the motor, because DSQC 313 in IRB 1400 doesnt support 7 axis?
External Axis Users Guide 4.0 3HAC9299-1
Page 13 of first pdf says about connection board, is it necessary or am i wrong?
Scans from my documentation about external axes:
According to schematic 3, can i use DSQC 236C in AP10 slot as drive unit?
At schematic 2 is different way to connect SMB's with each othe, when axis 7 is connected (not directly from SMB to AP80, but External axes smb to robot main smb and AP80). Can i use DSQC 313 as external axis SMB?
Documentation says connection of external axis 7 is pretty easy, but i'm thinking it is not, or i'm missing something.
Thank You for answer.
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Hi,
i have working IRB 1400 M94A welding robot and doesn't working IRB 1500 welding robot with positioner MHA 315. I wonder if i can set up positioner with a IRB 1400 robot as a 7th axis?
Setup:
IRB1500:
- SMB DSQC 253 with connected both robot and positioner servomotor
- DSQC 236C
- DSQC 230
- DSQC 252
IRB1400:
- SMB DSQC 313
- DSQC 317
- DSQC 325
- DSQC 335
I have additional SMB DSQC 313 if it helps. Do i need something else to setup everything? Or it is impossible?
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Yes, the zone is set to fine.
edit:
Didn't know it is work like that. I set zone1 and now the move is smooth. Thank You.One more question, can i set zone0 with all parameters to 0?
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Hi,
is there any option to delete a delay between move functions (movej, movec, movel)? I want to cut with plasma and time between functions causes unnecessary holes on the edge of the element.My robot is IRB1400 with M94A controller and Baseware 2.0.
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Finally my robot is working.
Summary:
- first of all i have some problems with cables and connections - broken runchains, leds on the system board doesn't lit up, this one was pretty easy to find.
- second, i got this robot with broken system so i did a cold start and cannot install the new system - fault: TPU contact lost after insert a boot disk. There was broken DSQC326 robot computer ( i though then) i changed it but there was an error after insert disk 1: this is not a boot disk
- third, the error with boot disk was caused because of broken disk drive
- fourth, after install new system there was an error: axis not commutated and some more described in this topic. I had no idea what to do, EN led on system board doesn't lit and so runchain was disconnected. But i tried to replace eeproms from old dsqc326 to the new - didn't work, but in other way - eeproms from new dsqc326 to the old one - it's work.I installed new system, LEDs are ok, i can jog the robot. Now i start to learn how to program it.
Thank You very much for help. -
I'll check today all connections between smb and axis2. The axis 2 motor had broken cover, maybe resolver was broken too.
I disassembled backpanel and it's ok. I must find the smb and axis 2 motor for change and check.
edit:
I had all the parts disassembled for the weekend (cards, batteries, backpanel and all connections) and today when i connect all i have only one error:
10034: Axis not commutated and 3 safety errors/information. So maybe axis 2 resolver send bad signal or no signal to smb and that is the error comes from. -
Without installing the ArcWare nothing changed.
But i found one more thing, when i disconnnect the serial measurment board wire i have only one fault:33156: Transmission failure
Contact lost with serial measurment system. Axis computer stopped due to transmission timeout.nothing more. Interestingly, the EN LED on 256A lights up for about a minute, then i got this 33156 error.
When i connect the robot, i have some safety faults and the two i mention before:33104 X and Y resolver Error 0101 10:03.11
Failure in X and Y resolver signals on
channel 2
X, Y signals are less than noise value33201 Axis cpu Read Error 0101 10:03.13
Error in reading from axis computer
driver. Axis computer driver did not
return correct number of bytes.And when i measure the X31 pins in the backpanel:
there is a shortcut between 2,5,6 (and 24VDC between each of them and pin 3, 5 is shield so i think it's fine) and pin 1 and pin 4 are separate. I measured it with disconnected plug x31.
The wire and connectors are fine, i checked all between backpanel x31 plug and SMB board. The error 33201 is strange, i have new dsqc326.I've picked up to the commutation error because it was from beginning (error: not allowed when axis not commutated) and didn't understand it. However, i can already see that I have approached it badly, I'm sorry, this is my first robot
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I am starting to think there is a system failure not the hardware. Every connection seems to be ok. I borrow the main CPU DSQC325 and it is acting the same way, same errors and servots.c 746 failure.
I read a lot and found that maybe i didnt install the system correctly.
3 first disks with system load correctly, then 4th and 5th disks called irb install ok, and have aw option disk which install ok, but i dont have any disk with system parameters (empty folder SYSPAR on last disk). Maybe there's a problem? After install the system i must load system parameters and commutatde the axes, am i right? With no parameters i keep getting servots.c 746 not allowed failure.I attach what i've got from abb.
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Do You mean this jumpers? I don't have any jumpers C16>C7>D7 or C8>C9 D8>D9
KM3 start normally after power on, but any other contactor doesn't. All nc connections are fine, all emergency buttons are ok.
I checked both runchains as imaged below. But i am not sure about connections in red squares. There are no such wires on contact block KT3 (on up side, maybe on the bottom?)
I have closed connection between B1>B12 and A1>A12, but there's a strange thing there's no connection between B12 and D1/D3 and between A12 D2/D4, but there's a jumper between D1>D3, should it be there?
The F led od I/O board goes off, i added the board in system parameters and now it's ok.
Yes this is our new(old) robot. It doesn't work since the beginning.
When we got it, there was system in sweden language and lot of errors, and the servots.c line 746 not allowed if servo task not initialized failure.
I changed robot computer (on an old one i cannot install anything) and installed new system in english and now i have some errors, but the one with servots.c and axis computer read error are still there.
Bend pin was in the main robot connector on the left side of the cabinet. And one of the security button doesn't work properly, button was ok, but the wires wasn't connected there (contact problem). -
I spent all day for checking the connections and found some problems(bend pin on axis3, 2 wires than wasn't connect in buttons), but this wasn't help me.
I didn't notice one important thing earlier.EN led on 256A module blink 2 times during startup then go off. When i go to manual mode and press button on TP halfway, rest of the leds (GS, MS etc.) light up, so runchain 1 and 2 are ok i think. In auto mode all led are on, without EN led.
Maybe that's problem with Enable chain open fault 10004?And one more thing, F led on digital I/O board is on, but there's maybe problem with settings parameters (All equipment for welding is connected, but not set in fresh system), but i'm not sure about it.
So i don't know which board buy, the 256A or 325, or maybe both of them?
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I'll check the connections again. The DSQC326 is bought brand new. So maybe i will change the main cpu dsqc 325, but i must order it first.
When i try to do something with the axes (for example jog) or run a calibration program from disc there's an error:
servots.c 746 not allowes if servo task not initialized OK
So i can't do nothing with the the arm.
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Yes, there are information about commutation value in instruction and how to set it, so i will do it, thank You.
But i see i don't have the board DSQC 233 which is axis cpu accordind to instruction IRB1400 M94A.
I was told the robot fully worked 2 years ago and nobody touch it since then, but i stop believing it.. -
I connected the robot and there are few problems. There are 3 which are important i think. On the beginning i had over 20 faults.
20030 and 10034 Axis not commutated
33201 Axis cpu read error
38001 Battery backup lost (i charged the battery for 18 hours yesterday and now it has 7V)How to commutate axes? I cannot find documentation about this robot. I found one on scribd and download it tommorow, because site need registration creditcard.
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Ok, i will check the drive today, dsqc's will arrive in next week, so i'll let You know about progress.
Many thanks you for your help so far.edit:
It worked!
I installed the system baseware 2.0 and arcware 2.0 with english language (before it was sweden).
Disk drive was broken, simple as that.Next week i'll connect the robot and see what happen, because now i have connection error, and robot stands in the other hall.
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So cpu can't find the files, because of memory? Or there's other possible reason, a problem with DSQC 325 for example?
I have option to buy dsqc 317 so i will try.
I hope it does not turn out that after replacing all the drivers will still not work. -
Is there any terminal commands that may help? I think to ask cpu about floppy disk drive status or other settings.