Hello again!
My suspicion was correct, I found that if you connect motors to X11, X12 and X13 ports on 6-axis drive unit (inside DM3 in my case), you should use templates for M1DM3, M3DM3, M5DM3 accordingly.
Very strange logic, but it works
Hello again!
My suspicion was correct, I found that if you connect motors to X11, X12 and X13 ports on 6-axis drive unit (inside DM3 in my case), you should use templates for M1DM3, M3DM3, M5DM3 accordingly.
Very strange logic, but it works
Hello dear colleagues!
Could you please help me to understand ABB additional motors configuration concept?
I have a system with 2x IRB 1600 robots, and each robot additionaly have 3-axis XYZ gantry.
Our hardware is 3x cabinets:
1) IRC5 Single cabinet (main computer + 6-axis unit for robot 1),
2) IRC5 Drive module only (6-axis unit for robot 2),
3) IRC5 Drive module only (6-axis unit for 6x additional motors).
I made a gantry config with External Axis Wizard. I specified correct SMB board, measurement nodes 1 to 6 to each motor, also I specified 2 additional mechanical unit - gantry1 & gantry2.
However, when I try to jog axis 2, the controller reports error 34317. And most confusing for me, why in the error description specified "node 4" if the motor connected to X12 connector on 6-axis drive unit.
So my questions is:
How the controller know, to which power stage on drive unit should be powered? Which parameter in robot configuration defined this?
I saw that on old systems was a section "DRIVE_UNIT", where "drive_system", "unit_position" and "node" had specified. But now it's hidden.
Maybe it defined by "logical_axis" parameter in JOINT section?
Or by motor name (I mean "M1DM3" should always be connected to power stage 1, "M2DM3" to 2 etc.)
Of course I checked cabling first, now I'm absolutely sure that each motor connected to right power stage and measurement node. So for me it looks like a configuration error or hardware fault.
Please share any info if you had same issues. Thank you all in advance!
Thank you for your help!
We solved the problems, and now WG works correctly.
Our problem was covered in one unobtrusive detail. Namely, the negative wire of the voltmeter was laid near the welder and power cables. Because of this, he received interference. And voltage values was corrupted.
We removed voltmeter-minus cable from common cable-channel, and installed it separately. Voltage values from WGview become correspond to values from welder (with difference less than 1 V).
1. We verified just now, the sequence is right.
2. Initially, we mounted ampere sensor as described in manual, i.e. near wirefeeder. Then we tried to space apart the sensor from the possible interferences, and place it between wirefeeder and welder. We did not notice any changes. Voltage sensor positive contact placed as manual said, negative – on the welder (cause weld-negative cable connection point too far from robot, weld table have 90 m length).
3. We use Sync Threshold = 98%.
4. Vertical seams has 3 points, horizontal has 2.
5. I didn`t find track.log, but maybe you meant log file, created by WG (its name must be specified in PROC.cfg, and that file rewrites for every seam). We collect that logs, and even we learned to visualize this data
In the attachment contains log file, plots from it and WG configuration for “drunk weld”.
ABB support says that "Sensor offset A" cannot be a 0 after auto calibration. But we saw working systems with both offsets equal 0. Which offset set on your sysnems?
Hello everyone!
We have some issues when setting up the tracking system WG.
Our system consist of Kemppi A7 MIG welder and ABB IRB 1600 with IRC5.
We mounted board and sensor as described in manual, then configured WG in robot controller. Seems like the system works (leds blinks as manual said, values from WG displayed on Production manager screen). Even tracking on Z-axis works correct (tracking the height). However, we need to weld T-joints and use centerline tracking.
That is centerline-tracking result:
Welding parameters is stable:
Gains: Y = 0, Z = 0 (Welding start and finish points manually aligned at the plates joint)
Such avoiding we seen at different gain combinations. Greater gains lead out the torch faster, and smaller is slower.
We tried to analyze that problem, and then starts to collect data from welder with RobotStudio Signal analyzer. This gave us two observations:
1) As can be seen, neither the TAST (Through-Arc Seam Tracking, signal which proportional to arc length), nor the current signals correspond to weave pattern. Can WG work normally with that welding current, if WG Ampere sensor measures must approximately correspond (theoretically) WeldingCurrent signal from welder?
2) Voltage values from WG and from welder doesn`t matches with difference more than 15 V. We will not be able to compensate such large discrepancies with Voltage offset in PROC.cfg.
Local ABB authority can`t help us with that issues, and now we waiting for answer from central technical support. But system must be done ASAP, and maybe you know, what we can try to do?