Posts by retobor
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I believe there are only two versions; one for R-30iA and one for R-30iB. Then, ofcourse, you can have DCS for PMC and Multi PMC as software options.
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I believe SYSMAST.sv file would solve this, if you had a backup taken in the position it was in before the image.
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It sounds like your weld schedule is higher than what your welding power source is able to provide. You should check what the rated current is. If it is happening every other cycle, I am assuming the power source is able to provide that amount of current, but not at the duty cycle you are working at.
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Inst > Miscellaneous > Parameter name > select your variable.
BGLogic is one way to do this. You can also use Setup > Override Select where you define 2 DI as binary bits to select 4 different override speeds.
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How are you executing this program; a RUN command or a CALL? Have you tried it as a Macro?
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I have experienced this issue with 100iD robots as well. Our application had them mounted -130 (upside down) and we received numerous disturbance excess faults as you described. We inquired with Fanuc (this was a 12 robot line) and they had no answer (we believe there are issues with these new 100iD robots and they aren't telling us). Our mounting angle was set properly, but manual payloads were never run due to limited room and complex tooling.
I would suggest checking that the mounting angle is set according to your configuration; this is done in the maintenance menu. After that, if you can run manual payload IDENT that might be your best bet. The robot will detect COG & inertia at the mounting angle relative to gravity. That is assuming you got your calculations from simulation.
Best of luck & keep me updated, I'm interested in the results.
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Maybe the issue is that the payload is maxed out? The robot is overcompensating for a lighter payload.
I never use linear moves to home, because of singularities and the possibility to move to that position in more than one arm configuration. Typically, joint moves to home are faster as well because they are long air cuts in most cases.
I'd suggest a joint move if possible, then looking at payload settings.
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"The pulse coder may be faulty, or noise may be causing the pulse coder to malfunction."
1. Improve the shielding.
2. Replace the pulse coder, then perform mastering. -
R[X] = AI[X]
PR[X,J] = R[X] (J being 2 for X,Y,Z,W,P,R) -
What about ForceTorqueControl software option? If high accuracy is required.
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That is normal behavior. You set the mount angle to 45 degrees which is correct. The robot is tilted 45 degrees so the world frame is also tilted.Now create a user frame that is parallel to the floor (most likely your P angle will be -45 degrees).
After that you will want to jog the robot using your user frame and forget that world mode exists.
***Note, that this will not solve the issue of the robot thinking that the rail still matches the world axis. I'm not quite sure if there is a solution to that. Maybe someone else can chime in.
Your note is what is important here. Using a Uframe will adjust axis 1-6, but is useless for E1 jogging. The E1 axis would need to first be jogged to desired position, then the robot robot arm can be moved to teach a point. If axis 1-6 is jogged first, the robot will drift out of position, which is quite inconvenient.
Notice the destination of the flange when E1 axis (+X 300mm) is jogged in attached. This is the result in any jog coordinate system (with the exception of joint)
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Makes sense. This machine was from a new to us integrator, and uses a fanuc positioner. Is there any documentation on the process to setup coordinated motion with the other options? I have only ever used unknown and set 3 points.On the Fanuc CRC, Software Manuals > V9.10 > Options > Coordinated Motion Setup and Operations runs through all the setup methods.
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Have you checked how much current the manufacture rates the gun @ 100% duty cycle? (this will also depend if you are running gas and the type of mix).
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I'm assuming you want to create a .TP program from a CAD part (.IGS)? You need to import the file as a high quality part and then draw part features on it. Then a .TP can be automatically created.
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I find using the loadset feature is the easiest, rather than setting a path and taking an AOA backup. With the loadset, you can select individual files you need and export it to a folder, rather than searching through a whole AOA backup.
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Kinks in wire conduit can also cause burnback as it will pinch the wire. Sometimes it is beneficial to watch the conduit when jogging through the weld program.