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Posts by srtautomation

    11:45AM Checked The Robot Reference position and noticed at home position in the programs and PR[1: HOME POSITION]


    Neither DO[8: AT HOME] or VO[7: At Perch] was on Keep in mind this is a refurbished robot and was recently installed.


    The home position had to be touched up a few weeks ago to a better location out of the furnace +Z:


    Recorded the reference position and both DO[8] & VO[7:] are on now.


    Also I was checking the DCS zones before lunch break and there is collision guard that I set to 130% but no DCS to be found- May have to get a firmware update.


    Shift_Lock I will add WAIT VO[7: AT Perch] in the 1st line of MAIN until the HOME_RETURN PROGRAM has been tested and finalized.


    Thanks for the Johnny INPUT ALL!


    srtautomation

    Thanks for the feedback.

    Some Details about the Robot cell:

    Foundry Robot R-2000iB 210F-

    The Robot EOAT is a square shaped Ladle that dips Molten Aluminium.

    Auto pours into 3 tilt casting machines.

    Last month on 2nd shift the robot crashed into the furnace divider and busted the ladle into pieces.

    Crashes have happened before and the robot crashed into the light curtain at Machine 1.

    This was due to MAINT pressing Abort all and then pressing cycle start on the HMI.

    The 1st call program in MAIN is PR[1:HOME POSITION] so the robot took the shortcut back home- Causing Chaos!


    The HOME_RETURN program is a call program that will be in the 1st line of MAIN.

    So anywhere in the cell if Abort all is pressed the Robot will return home without spilling hot metal, crashing, or limit faults.

    Thanks for the FEEDBACK!

    srtautomation

    HOME RETURN

    1: OVERRIDE=50%

    2: IF VO[7]=ON, JMP LBL [10]

    3: PR[20]=LPOS

    4: R[10: CURRENT X]=PR[20,1:Curpos]

    5:____

    6: R[11: CURRENT X]=PR[20,2:Curpos]

    7: PR[20,3:Curpos]=450 MAY HAVE TO CHANGE UPPER OR LOWER.

    8:L PR[20:Curpos] 200mm/sec FINE

    9: IF R[11:CURRENT Y]>0,JMP LBL[1]

    10:L PR[12: Home_ret2] 200mm/sec CNT25 MAY HAVE TO CHANGE PR[12] TO ANOTHER PR WITH A SAFE PATH HOME.

    11: LBL[1]

    12: IF R[10: CURRENT X]>1800,JMP LBL[3] MAY HAVE TO CHANGE TO >1800 AND TEST OPERATION WITH ABORT ALL AROUND THE CELL IN ALL PROGRAMS.

    13: JMP LBL[3]

    14:L PR[31: Home_SAFE_HOME2] 200mm/sec CNT25 MAY HAVE TO CHANGE PR[11] TO ANOTHER PR WITH A SAFE PATH HOME.

    PR[33:SAFE_HOME4] 200mm/sec CNT25

    P[1] 400mm/sec CNT50


    15: LBL [3]

    16:L PR[1: HOME POSITION] 200mm/sec FINE

    LBL[10]

    18:__

    19:__

    20:__

    [END]


    Change 12: IF R[10: CURRENT X] to >1800 instead of Less than 1800 8/14/19 11:20AM


    Note: This program works as planned while the robot is in the Furnace area but anywhere else in the cell it has Limit faults.


    Is there an option if to add multiple JMP LBL's in the same line?


    Any support is appreciated.

    Thank You

    SRTAutomation.

    Thanks for the Info the issue I have on getting all Axis to zero position is a furnace is in the way to move the robot in all axis to the 0 position. So if I update the Revolution counters I have to move Axis 1,2, & 3 update then move 4,5, & 6.
    to clear the furnace.
    So I may have to take off the end of arm tooling to get all positions to Zero then sync at zero position.