Posts by disazoz

Hello.

I'm trying to open backup from VASS project, but can't find FRVRC 9.16 (I only have 9.10, 9.30 FRVRC).

Is anyone can provide FRVRC 9.16?

Thanks a lot.

Finally, its working! The problem was with wrong com-offsets (commutation offset). Looks like during debug i ran commutation procedure and overwrite correct offsets with incorrect one.

So i just mannualy put back com-offset 1.570800 (looks like a standart for all abb robots starts from M90 generation) and all works as a charm.

Additional question. Does it matter that motors label in controller do not match what i see on actual motor on axis 1,2,3 (4,5,6 is match)?

Quote from SAABoholic

Make sure you have the right robot model, Type A/B/C, the label on the back of the robot should tell you which one you have.

I don't remember when they did away with com-offsets, but if your labels only have one value (resolver offset) and nothing about comm offset then that's not the issue (most likely anyway).

Fine Calibration / Resolver update won't affect your ability to move the robot, it'll only screw up it's 0-position and with that it's accuracy, but you should still be able to move it just fine.

First of all, thanks for reaply.

There's no any labels on the manipulator nor controller, all is gone.

What i found for the moment (just to share info with community):

1. Com-offsets was specific to each motor for old robot, but starting around M90 model year, ABB has a standart com-offset 1.570800 rad. So, i believe that that my robot should have that standard values, if no motor changes, no repair (improper) was performed.

2. Resolver values inside cabinet is the calibration offset that was gotten during fine calibration on robot build (abb calibration pendulum is needed for this). But, yes, probably it should not effect on ability to jog robot axises.

3. The same for Resolver revolution counter update (e.g. mastering by robot zero position with marks)

I will continue debug today.

I have a couple of IRB2400L with S4C controllers that have been stored around 10 years. (These 2 robot was working synchronous on a rail)

Now we are trying to run it in test lab. What we did:

Connected robot to the controller and changed backup battary in controller.

Installed RobotWare 3.2 (not shure what was used before, all disks was lost)

And now we are facing problems. When we trying to jog any of axis, axis 2 moves randomly and immendanly stops beacuse of speed limit.

We didn't have any "manipulator parameters" diskette. Do we need some how calibrate resolvers?

We have some label inside cabinet with serial number and resolver valuses. For what this values should be used?

We did try to run "update resolver values" and "Fine calibration" by move robot to zero position by hands.

After that we have all axes in "syncronised" state. When we move robot by hans, we see that angle for axis in jog view are changes. Looks like resolvers are working fine, and sending some values back.

But again we can not jog robot by axis, after start jogging by any of axsis, robot move that axis a litle, and at the same time move axis 2 in random direction and stops with error "speed is over than limit on axis #"

We did tried to connect second robot manipulator to the same controller, and got the same behavior.

Looks like we are miss some setup step. Do we need some hove calibrate motors?

For what "resolver values" label inside cabinet is used for?

Hi, everyone.

I'm trying to setup VR environment based on RobotStudio, for learning purposes. And I need CAD model for IRC5 FlexPendnt.

Do you know, is it possible to find this. Or, if someone gives me the picture of FlexPendant (top, front, right view) with a ruler on the shoot, I will try to draw 3D model, and share results with the community.