Posts by dovdor
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Hi,
First of all I want to thank you for the answer.
Regarding to your suggestions for connectivity checks, I can tell you that I've done them a few times so far. In the following, I will try to answer punctually to each point in accordance with what you told me to check:
1. my board is HW type, so it's PNP;
2. jumpers J1, J2, J3, J4 and J5 are set exactly as you mentioned;
3. the connection of the CN2 and CN4 connectors is in accordance with the IO manual, except CN3 where I don't have any cable and I don't even know where to connect it or how to set it from jumpers;
4. the wire connections are made in accordance with the IO manual;
5. I don't see any signal on the IO monitor, neither on inputs or on outputs ... maybe I don't look where I need to, you can be more specific ?;
6. I will attach some pictures with the settings from Aux 0601 and 0602 as they are at the moment ... maybe here is the problem ...
Thank you!
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Hi,
I came back.. finally I managed to connect all the inputs and outputs necessary for my application, but I found that my 1HW board still doesn't work, although this time it doesn't give me any error ... It doesn't see any input signal and it doesn't order outputs ...
Is there another setting or configuration (software or hardware) besides Aux0611 that I should do to activate this module?
I measured the voltages on the active inputs and found that there is a voltage drop of approx. 2 Vdc ... finally with CN4 connected on the 1HW measuring board on the active inputs only +22.1 Vdc, which is not normal.
on outputs, 0 Vdc ...
I also ran a program for testing the inputs and outputs and I seem to have the impression that when it reaches the line signal 1,2, 3,...., n it jumps over it, without executing it ...
Do you have any suggestions that might help me, what else should I check?
Thanks in advance!
Regards ..
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Change Aux 0611 to 0 input and 0 output.
- Power off.
- add 1x 1Hw (set at 1-32) and power up.
- Change Aux 0611 to 32 input and 32 output and power off.
- Power up - No error should be displayed.
Hi,
I can tell you that for the moment I have solved the error problem (E1009) generated by the 1HW board following the instructions above. Now I have to connect some inputs and outputs on the board mentioned to see how it works.
The problem of the builtin signal cables (I / O) has remained unresolved for the time being ... I will come back after doing some more checks ...
Thank you very much kwakisaki! You have been a real help to me!
Regards!
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You have right, the filesave was made a few days ago while the changes in Aux 0605 was made today ... hence the differences ...
Question: when I activate the Clamp function with A + CL1 shouldn't I hear the relay on the KP board working?
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here are the settings in Aux. 0605 regarding the CLAMP function:
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Disconnect just the solenoid island when testing the 1HW's again (leave the main umbilicals attached, so you wont have the other errors).
I will do the tests only with the plugs of the harness cables inserted, because in the previous test there was an error regarding the encoder (E1030) and the robot was working incorrectly.
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No, I tested it. I programmed him to make 3 layers on a pallet, after which I repeated the program to see if it is positioned in exactly the same place and he executed it without problems...and no errors ... except for the VMEbus error, which occurred when I connected the plug to the solenoid valve island.
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ok I understand. Thank you. I will do the suggested checks and I will come back with conclusions ...
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Ok, I will try your sugetions...
I think I told you before, the CN2 & CN4 plugs are disconnected, therefore I do not have an external power supply of 24 VDC per 1HW. I don't think that's a problem ...I think the Kx board should see it on the master BUS...
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Is this robot being re-puposed?
What is the robots history prior to these issues?
Have you 1RB board spare at all?
These robots worked on palletizing applications..the robot works very well (from a mechanical point of view, positioning, etc.) except this two problems ...
No, I haven't a spare for a 1RB board..
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Place both 1HW boards in Slot 1 and Slot 2 and set Aux 0611 to 64 input and 64 output and test again.
(If forgot to add, make sure each 1HW is addressed correctly 1-32 and 33-64)
Another question regarding your verification proposal:
the settings in Aux 0611 are made with the 1HW cards removed from the slots, ie I make the settings in Aux0611, stop the power supply, insert the cards set on 1-32 and 33-64 and then start the power supply again? There is a rule?
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Have you an error log?
No, I haven't but I will download tomorrow...
Have you checked all connections to KX board?
I don't know what other connections I can check on this board (Kx)....
You managed to take a look over the AS file?
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Place both 1HW boards in Slot 1 and Slot 2 and set Aux 0611 to 64 input and 64 output and test again.
(If forgot to add, make sure each 1HW is addressed correctly 1-32 and 33-64)
I will try this option as well...
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Very surprised in 12 years this is a first time I hear about.
all things / issues have a beginning at a time ...
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Then your 1HW is probably faulty then as it is not being detected.
as I said above, I tried with another 1 HW board ... the same error.
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errors appeared when disconnecting the cables behind the robot.....
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Error E1009 is generic code for IO board communication error.
It will always display No.x of board it is not communicating with.
Check if No.x is definitely 1.......if it is another number, then possible you have set more than 32 inputs and 32 outputs in Aux 0611.
"E1009 No 1 I / O board is not installed" - the 1HW board is mounted on slot 1 and has set in Aux 0611 the values 32 for IN / OUT and J2 jumper set on 1-32
I tried with another 1HW board and I get the same error: "E1009, No1 I / O board is not installed"
If relays on 1KP are switching with commands, then clamp commands and clamp conditions are set and working.
CL1, CL2 buttons only work in teach mode and require 'A' button to be pressed and held down first, then CLx button.
Are you pressing 'A' button?
Yes, I pressed the A + CL1 or A + CL2 button. In this mode (Teach) I no longer hear the relays working.
Remove ALL umbilicals from robot side (you will receive many errors for encoder and harness disconnection) this is normal.
Look at errors closely, do you see VME Bus or IO communication errors?
If not then problems exists between umbilicals and robot side, not 1KP or 1RB.
I removed all the harness cables from the robot side and indeed there were several errors, but no one related to the above errors.
In the next few days I will check the harness cables and the internal cables in the arm, maybe I can identify the problem.