Posts by yootommy

Hello Guys.

I have cracked open a servomotor to diagnose a problem with the break , but unfortunately I broke the clutch of the break.

Right now the robot is in a position with not a good COG and I`m trying to move it back in transport position until the new motor arrives.

The problem is that when I release the breaks and try to move the robot the pulsecoder detects movement in the axis and it gives me an error, not letting me move the robot.

The error is SRVO-023 Stop error excess.

There is any variable to eliminate the error detection just to move the robot in the good position? (we are in a warehouse with low space and we are afraid that something might bump in to it)

I know this is a dangerous thing to do but I will take all the safety precautions while I will do the operation.

What means bad mastering?

As far as I know, you plug the EMD and the axes disappear as they are mastered by the tool.

I took the head of the robot off and remastered it. For a HA robot, do I need to add "load correction" and recalibrate for each tool? Meaning 8 times with the same tool as it is a milling robot?

Wow, what a ride...

The laser tracker measured multiple points in the air one meter apart on X Y and Z. All of them had different errors from the value that was shown in the teach pendant ranging from +1mm to -1 mm from point to point. (We are waiting for the 3d report). -The robot was jogged manually for the measurement to exact "x000" X,Y, and Z values. -

The KUKA representative had nothing to say than "pretty odd". -Me too my friend, me too-

The robot has been recently moved from another location so the KUKA representative suggested that the robot should be recalibrated "after any major collision or relocation".

As the TCP rotates PERFECTLY along the measurement pin, I am not sure the recalibration will do any good. Any thoughts about why the robot can have variable errors in different locations? As I mentioned early, the payload is set correctly.

Can recalibration erase some of the HA functionality?

Yes, it is active. just researched a bit more on the topic of HA.

The robot has a rail. We are cutting carbon fiber parts and we implemented 4 jigs.

When we wanted to implement the 5'th jig it was a collision.

The collision (god knows why) affected all the other 4 cutting trajectories. The robot has no calibration error but everyone else is insisting to recalibrate.

We measured the errors on the TCP and they were insignificant, also they have been auto-corrected by a macro.

Trying to palp the jig to build the base frame again, we noticed this offset between virtual and real coordinates (some colleagues tell me that this might have been the case before collision too).

Besides the fact that the 3d data doesn`t match with reality, considering the extra HA option, I have no explanation for this big error.

KUKA and a 3d control laser are coming tomorrow and I will keep you updated.

I am not sure if I have the "Absolute accuracy option".

"To deactivate KUKA’s Absolute Accuracy you should set variable DEACTIVATE_ABS_ACCUR to TRUE. You can find this variable in the file KRC:\STEU\MADA\$custom.dat (around line 73)."

I don`t have the $custom.dat file so maybe I don`t have the Absolute accuracy option.

Is this error (approx-3 MM on y at coordinates X:841.22, Y:1130.18) normal for a robot marked HA?

The load data is set correctly for each tool and spindle.

Hi Fubini,

The robot is extra HA, but what you have said can explain the jogging mode error.

I attached a test program where the probe should be in the center of the holes.

The views of the probe and the robot position are similar to their representation. (Robot is below the image)

Hello everyone!

I have a problem that is puzzling me. I am trying to palp a jig to build the Baseframe, but after I go to the virtual coordinates they don`t match with the robot position as I go further from the origin (Also the milling trajectory is not good).

I have tried to measure the probe(with automatic robot macro) and the error is insignificant.

One thing that I observed is that if I am, for example, at the coordinate X:2000 Y: 2500 and I jog it to Y0. my X coordinate changes gradually to 1996.9. Can this cause the measurement error, or there is any logic explanation to it?

So, i found a solution (kid of)

I don't know much electronics so technical data might be wrong - but it works.

The outputs are NPN so if I apply 24 volts -to the output- and I turn on the signal I can close the circuit and turn on a lightbulb connected in series.

If we replace the lightbulb with a rellay this can act as a switch for a 24v signal connected to the PLC.

I hope you understand what I mean with my limited electrical knowledge

Hello guys, i am trying to map signals on this board to send them further to a PLC:

https://imgur.com/a/546WWJM

If I put 24V on the input side the signal is detected by the robot, but i can not get the card to output 24V.

Maybe I am mapping the signals wrong - I am using RACK 0 SLOT 1 for both I/0 (nothing else works)

EDIT: The robot is mapped correctly, BUT the output voltage is 0.5!

Is there any conventional way (without transistors) to switch a contactor with 0.5 volts?

FANUC R-30iA - Board model 1761998 - A1

All the fuses I found are 2 on the e stop board and 3 inside the cabinet, there might be one missing but I don't have the electrical drawing available.

Currently checking cable connections

If i reset pca alarm BZAL errors dissapear

Hello guys.

I have an issue with a robot controller. It shows multiple errors regarding a fuse blown and operator and external e-stop beeing pressed.

I checked the two green fuses behind the e-stop button and also the 3 white ones inside and they are fine.

You will find the error list bellow :

The controller model is R30-iA

Thank you in advance!

Found the solution!

You can move the robot groups independently by using the "RUN" comand, calling the desired trajectory.

The only rule to respect is that group masks must not intersect

Hello guys!

I have a fanuc robot with a gripper and a welding gun.

Group1 - Robot - 6 axis

Group2 - Welding gun - 1 axis

After each cycle i need to run a karel function (uses only Gp2) to check electrode usage. Because of cycle time issues i want to run this program after the welding, when i am not using the group 2, and the robot (group 1) is dropping the part.

Is there a way to separate the two "trajectories"?

Thank you

Hello, i have a problem with an old FANUC M-6iB

When i try to calculate the payload with IDENT function the robot tells me that "IDENT option is not loaded"
Any idea on how i can fix this ?

Thank you for help in advance !

Photo:
https://imgur.com/a/BAcm6Y7

Hello,

First off, i`m going to excuse myself for the long question and tell you that i`m a beginner in robotics, 6 months so i may be sounding ridiculous.

I`m trying to understand how and when i should adjust the speed and the CNT of the robot. Is kinda confusing with so many opinions floating around.

I personally stick with joint movements CNT 100 in 95 percent of the cases. except pick/place and welding points.

I hate linear movements because when you need a linear movement to avoid an obstacle you will almost never reach the desired speed, you will overdrive an axis and the robot will start making funny noises, and low CNT because from what i have seen when the robot slows down in that point (the welding gun, for example) is heavily affected by inertia.
For example, i had some linear movements with low CNT, and even if running the trajectory in manual without step the distance was more than 40 mm it was still colliding sometimes with the jig in auto. Modified with cnt100 and joint movements , and voila.. problem solved.

So, two questions.
1.How can i adjust the speed of a linear point to know that will not cause an axis collision? Or how can i know the speed at which i`m overdiving an axis
2.In my trajectories i use only joint movements with high CNT so often even i think is wrong.
Can someone tell me what is the best recipe and why?

Thanks man nice software!

Hello,

I want to re calibrate a fanuc R-2000iC because axis 3 is not on the physical mark .
Is there any way to do this and keep the working trajectories?

Yes , the cause is the singularity.

Now it works with RTCP WJNT rtcp.

The path looks something like ====o---o==== . I spoke with the guy that integrates the glue pump and he said that will increase the volume in the area, but the dots at the beginning and the end will still be there.
I was just looking for a bypass for the compatibility of WJOINT and RTCP.

We are still integrating the line and i don`t know how this will evolve .

How can i set a TCP without destroying the trajectory? ( The standard doesn`t allow more than one frame per trajectory)

Hello guys !

I want to setup a glue pump for a gripper robot.

The thing is that in the trajectory i NEED to use a Wrist Joint movement in linear (wjnt) and also send the TCP speed with (RTCP) comand.

The problem is that the comands are not compatible, don`t know why.

Any idea on how to solve the issue?