If following BOTTECH's advice on holding shift and hitting reset works to allow servo power then you could set System Variable $DMAURST to TRUE and then pulling the deadman will automatically clear SRVO-003 for you. I'm not %100 sure on what all faults are able to be automatically reset with this variable but I know it won't work on things like BZAL, BLAL, DETRR, ect.
Posts by SHIFT_Lock
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What's your situation like? Maybe I can help.My problem ended up being a wiring issue. The encoder signals were supposed to be wired as a twisted pair in the IGUS cables in the robot but we still had an old IGUS cable with the wrong configuration.
I'm curious if there is a difference in the part numbers of those two cables?
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Did you lose power to the robot while the battery was unplugged? If so you'll have to remaster either way. I'm assuming the batteries have been reconnected since this issue, correct? It's likely that you are unable to jog because of the battery alarm being active and also you may have lost the pulse to all six of your axis. Also remember after following BOTTECH's advice resetting the PCA fault you will need to then cycle power afterwards. It's at this point that if you haven't 100% fixed your battery issue then if you haven't lost encoder data yet, you will at this point.
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To jog the aux axis it depends on how it's setup but hitting "GROUP" will either send you to Group 2 or G1 S World as opposed to G1 World.
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I've not personally set an aux axis up but assuming you've done it correctly the SRVO-068 is a communications fault with that drive. If you use FCTN>0>8 to cycle power does this fault go away? Do you also have SRVO-062 BZAL (battery fault) on this axis? Have you established a pulse on this axis by jogging it back and forth in single axis master?
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You can get this alarm "MOTN-063" after a failed calibration attempt meaning one or more axis do not have an established pulse. To check this go under MENU>NEXT>SYSTEM>MASTER CAL and open up 4. Single Axis Mastering. Under the ST column you should have (2) meaning you have a pulse for that axis. If it has (0) then you need to establish a pulse. Though I don't believe you mentioned having the "SRVO-075 Pulse Not Established" fault.
I searched for the alarm itself and found a number of posts covering other options such as a position needing taught in the correct tool frame ect so I would check into those threads as well.
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This is the fun one. First you kill the bonehead that did this.
Now you have a robot that needs mastering on all axis. The best thing to do is zero position master it but you don't have the space to do that.
I have this condition on several robots and there are plenty of options to handle it.
1). Quick master; set the quick master reference at the home position. Paint witness marks on the robot so that if the robot isn't at home you can get it close and then perform quick master.
2). Single axis master. Line up 1, 4, 5, and 6 and single axis master them first if you can. Then rotate axis one so you can line up axis 2 and 3
to perform the single axis master on them. Axis 2 MUST BE AT ZERO TO SINGLE AXIS MASTER 3.
3). If the controller power has not been turned off you can go to the position screen and write down the joint angles which will still be correct, IF THE POWER HAS NOT BEEN CYCLED. In order to reset the BZAL you will need to reset the pulse coders and cycle power. When the robot reboots the joint angles will have changed. Write them down again. Jog each axis until the pulse not established errors are resolved and put the robot back to where the second set of joint angles that you wrote down are. Now go to the single axis master page, enter the joint positions from where the robot was BEFORE power was cycled into the master positions and master the robot. Calibrate the robot and check your points.
This method has worked 100% for me and no touch up was required, ever!For options 1 and 2 you will need to check and correct any tool frames user frames and check all points and back it up.
If you find that my last post was not your issue this is a quote from RacerMike123 from another thread. I haven't seen much activity from him lately but I've found him to very knowledgeable in the subject of robot mastering. Maybe you can send him a PM.
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I'm a little curious as to what you mean by "word" position. Are you refering to the "World" Coordinance? Forgive me if you feel like i'm underminding you but I do not know your experiance with robotics but if you hit the "COORD" button on the controller it will change the coordinance in which the robot moves. Such as "JOINT" "JGFRM" "WORLD" "TOOL" and "USER" have you changed the coordinance and Jogged the robot to see if this helps? From the video i'm not sure what exactly you are trying to point out but I could also be missing the entire question completely. Again sorry if i'm asking dumb questions as it is not my intention to offend you. But you mention your program runs ok but jogging moves are "moving in an irrelevant way" which is why i'm curious if you change COORD then you may find what jogging coordinance you desire.
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Do you have a pulse established on each axis? I ask because it still says the robot is not calibrated which would make me believe one or more of the axis doesn’t have an established pulse and therefor isn’t actually calibrated.
Do you have the factory Count sheet that came with the robot?
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I've attached a few photos of what our group ran into over the weekend. This is the "rack and pinion" from underneath one of our vision robots that runs on a track to load completed parts into a rack. For the most part the robot sits stationary during the job with only short runs back and forth on the track until it goes to load it's first part into the rack and during this the robot runs the full length of the track into the rack, sets the part, and then runs the full length of the track to exit the rack once the drop has been completed. It does this ten times per rack but the travel gets shorter and shorter as the rack fills up. The major wear areas are at the two points where the robot is "accelerating" and "deccelerating" at a pretty quick speed.
So my question is what would be more beneficiary to correct this issue?
Would slowing down the ACCEL/DECCEL of this axis be a good start? (I would like to avoid slowing the line down but you can't win them all)
Was this maybe caused by a misalignment or lack of proper lubrication? *EDIT* the more I think about it the more I believe the gears teeth are not properly “meshed” with the track and maybe there is a gap between the teeth. This is really hard to see being that it’s underneath the robot but I’m going to take some photos with my phone and see if I can get a clear shot. We may just need to shim the servo a bit to get this closed in.
The linear bearings all seem perfectly fine as well at the rails.
We have a second line that is literally identical except it was setup by a different integrater/programmer so all the equipment is the same to a "T" but the programs are entirely different and that line is showing minumal wear. The line in question uses one taught position and relys on Voffset to find the other 9 spots whereas our line that is still in good condition uses PR's for every point and then the vision adjusts X and Y. So this sticks out to me that maybe it could be something as a simple program change as far as acceleration limits or something along those lines?
Our first shift guys replaced the rack and then when I got here I replaced the drive gear so I could begin reteaching the jobs. So everything is running currently but I want to know what you guys think of this and what we could try to do to prolong the life of this new track without effecting tact time to much. If you need to know anything else about the program or setup please ask.
When I get in to work tomorrow I'm going to start trying to compare some variables and stuff and see if I can find any differences so if you guys have some you think I should check let me know! Thank you all in advance.
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I was playing around with some changes the other day and when I accidentally added another "AND ... ... ..." I found it easiest to highlight the "AND" and hit F4 for "CHOICE" and just select "FOREVER" and it'll delete the line and go back to the way it was before.
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MENU>NEXT>SYSTEM>AXIS LIMITS
I would suggest looking into what is recommended for your particular robot because opening these windows could cause the robot to bind up and it could damage the robot. Being that you are a beginner you could get into a real mess here.
Also write down the limits before you change them and you must cycle power for them to take effect.
Someone else may have some more info for you but you could also try slowing the moves down a bit and see if that helps. But before you do anything search the forums for “MOTN-017” and read up what other people have done to fix it. There are a couple threads about it.
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MOTN-017 Limit error (G:%d^2, A:%s^7)
Cause: Limit error.
Remedy: Reteach the position out of limits.
It sounds like you are possibly trying to move or teach the robot outside of it's "soft limits". Can you tell me just a bit more about what it is you're trying to accomplish? Which robot/controller?
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I'm wondering if maybe the controller lost power or if a major alarm occured casuing someone to cycle power and then the SRVO-068 came up. You can remove that axis entirely i believe in a controlled start. I've never personally added/removed one like that but there is plenty of info on this forum covering it.
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Easiest way to see Menu > Setup > Menu Utility.I don't see the Menu Utility option on any of the robots we have. Even the ones that I don't have this issue with.
Not sure on your 2nd issue. Have never heard of forcing back to the edit screen beyond something being done in a karelThis is the most annoying of the two issues that i'm having since when i'm trying to use both screens it kicks me off every cycle. And the cycle time on this robot is something like 45 seconds. So I have 45 seconds before I lose my page again. I may just start using the triple screen and then i'll still be able to keep whatever I have open on the smaller two and just let the job run on the left hand side. We don't have the Karel option on any of our robots so it can't be that.
Thank you agian for your help! May just be something I have to deal with.
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On #1, whoever configured that Robot probably didn't get the Menu Utility option. It is now a paid option 5ish years ago & prior it was free. Included in there was a program called Clear User Page. It cleared any active user message & DIDN'T force the TP to the user screen. Now since you probably don't have the option, whoever programmed it to get around not having it, probably made their own Clear User Page program & all it is is a whole bunch of empty MESSAGE[...] statements. Which is fine, it accomplishes clearing the user page, but it forces the TP to that screen. No way around it unless you block out the usage of that program.If this is a paid option is there a way to see if my robots have it? Or is it basically if I did have it I wouldn't have this issue?
On #2, what do you mean by job? Do you mean it reverts to the program editor screen?Yes, If I have the split screen up and have Inputs open on the left and Outputs on the right the second the job starts it boots me off the Input screen (or whatever screen is open on the left side of the pendant) and forces me into the Program Editor Screen as if I pressed the "EDIT" button.
Thank you for your help!
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We have a couple of R-2000iC robots with R-30iB controllers that have been in use for about two years. I've noticed a few differences between these and ones that we've had since I started 7 years ago and it's quite annoying. I've tried searching around a bit but have had no luck so here I am.
The issues i'd like to address are:
1. When the teach pendant is not in use the "User" blank white screen is always up by default. Even if I hit "Edit" to watch the job as it's running after some time it goes back to the "User" screen again. What can I change to have the current running job (Edit) as the default screen like the 65 other robots we have?
2. When the robots are running and I am scrolling through any other menu (i.e. I/O's, Variables, ect) as soon as the job cycle starts it overrides whatever i'm looking at and shows the job running through. Now I know you can hit monitor and scroll on but on all of our other robots if I have the Inputs open in the left screen and the Outputs open in the right screen and the job starts both screens stay up and I am free to scroll around. But if I have both the inputs and outputs open on these other two "newer" ones it overrides my left hand screen and opens the robot job back up. Is there a variable to be changed? Maybe something else?
Thank you guys in advance!
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I have the same problem. Any ideas what is wrong?I'm not familiar with this alarm myself but this link has a couple suggestions.
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If you can't dedicate a half hour of your time to learn the basics by watching the videos I posted, I don't know what to tell you.Honestly you need to get your employer to send you to robot training. You really learn these things hands on.
I was thinking the same thing. Learning robotics isn't something you can just short cut your way through. It takes a lot of time and a lot of hands on to be a good programmer. Half the reason I joined this forum was to follow people like Nation and others and read thread after thread taking notes and trying out new things.
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I sent him the documents he was looking for and he was very pleased.Thank you for taking the time to do so i'm sure he was very happy. None of my lines are weld lines so I don't know much about that side of things. I was hoping the translation would help him with recieving an answer and it would appear that it did.