Posts by Autobotics

I have seen the payload or product shift due to the gripper not securing it. Changing the speed may fix the issue, you still need to see what has caused this issue. If the system was running OK for 2 to 3 months, something has change?

I have seen these alarms through out many years. Collision Detection and Excessive Disturbance. if no impact has been made and you are in open air we need to know what axis does it state is the issue ? On many robot models with a Balancer Axis 2 we hear a ringing like a bell coming from a bad balancer. I would also check the pins and casting around the balancer. I have also seen this when the TCP and Payload in conjunction with the collision detect was setup incorrectly. Many things can cause these errors.

What type of Positioner

What type of positioned is it

What state is this system located in?

This system runs on 208 vac. If it has a transformer in it on the 3 phase, that is where you set your in coming voltage.

This system runs on 20

The board marked in red is an over speed board that is for safety. The board on the right is a auxiliary axis board that takes the feedback from external aux motors. If you are changing boards between servo amps the top boards have to be on new servo board. The daughter boards can cause this error. I usually move daughter boards to different WRCA board and reinstall. You need to remember the system is configured a certain way and software is looking for that hardware in those spots.

To all I have been working in the Robotics Industry since 1984 at GMF robotics. They were the predecessor of Fanuc Robotics. I will assist you with your robot questions.

Did you move the daughter board that was on the WRCA board also? Make sure those cable are on the correct board connectors and are seated properly.

It is not being able to read that file and write to that location check in properties and make sure Read and Write have check marks.

If converter same swap them

This is what my file looks like

NEWSIMULATOR

{

DISPLAY

{

DRIVER=OpenGL;

AXIS_TRIAD=1;

PERSPECTIVE=1;

3D=0;

3D_DEPTH=1.000;

}

BACKGROUND_COLOR

{

TOP_COLOR=RGB(128,255,255);

BOTTOM_COLOR=RGB(255,255,255);

}

FRAME_LENGTH

{

FRAME_LENGTH=100;

FRAME_COLOR=RGB(0,0,0);

AXIS6FRONT=1;

USER_FRAME_COLOR=RGB(128,255,255);

FRAME_RGB=0;

USER_FRAME_RGB=0;

}

SHADOW

{

SHOW=0;

COLOR=RGB(0,0,0);

RESOLUTION=192;

BLURRING=4;

}

SMOOTH_TRANSITION

{

EXECUTE=1;

DURATION=1.200;

}

LEVEL_OF_DETAIL

{

EFFECTIVE=0;

}

MARK_UP

{

COLOR=RGB(255,0,0);

LINE_STYLE=3;

}

TEXT

{

FONT_NAME=sans_serif;

SIZE=24;

BACK_COLOR=RGB(128,128,128);

}

ROBOT_LIMIT_AXIS

{

EXECUTE_INTEACH=1;

EXECUTE_INPLAY=0;

LIMIT_VALUE=95.000;

LIMIT_VALUE2=97.000;

REVERSE_COLOR=0;

LIMIT_COLOR=RGB(255,128,0);

LIMIT_COLOR2=RGB(0,0,0);

}

SIMTIME

{

SHOW_STATUSBAR=0;

}

MULTI_ROBODLG

{

EFFECTIVE=1;

WARNING=1;

}

LANGUAGE

{

LANGUAGE=ENGLISH;

}

UNIT_SETTINGS

{

POSITION=mm;

LENGTH=mm;

ANGLE=deg;

WEIGHT=kg;

}

PERFORMANCE

{

STATICMODEL=0;

LMV=0;

DISPLAYLIST=Geometry;

CULLINGTHRESHOLD=1;

CULLINGPIXELS=10;

USEFRAMERETE=0;

FRAMERETEMODE=Fixed;

}

MODEL_LIBRARY

{

LIBPATH=C:\Users\Public\Documents\Motoman\MotoSimEG-VRC\ModelLibrary;

}

IGES_IMPORT

{

HEALING=0;

RECREATE_SURFACE=1;

ERROR_ROLLBACK=1;

SHOW_DIALOG=1;

IMPORT_HSF=1;

IMPORT_SAT=0;

IMPORT_SAFE=1;

GRAPHICAL=0;

}

CAD_EXPORT

{

UNIT_NO=0;

SAT_VERSION=6;

SHOW_DIALOG=1;

}

PICK_SETTINGS

{

PICK_OBJECTS=65535;

PICK_OPTIONS=65;

MOVE_MODE=8;

}

IO_SETTINGS

{

DISPLAY_IONAME=0;

}

LINE_SIZE

{

PEN_WIDTH=1;

}

MOUSE_OPERATE

{

SCROLL_ZOOM=RBUTTON;

ROTATE=RBUTTON+MBUTTON;

PAN=MBUTTON;

FREE_ZOOM=RBUTTON+CONTROL;

SHOW_POPUP_MENU=1;

}

HIGE_GUIDE_LINE_SETTING

{

SHOW=0;

COLOR=255;

}

HIGE_SETTING

{

LENGTH=50.000000;

STYLE=3;

SHOWPOSNO=0;

SHOWPOSNO_COLOR=0;

COLOR=0;

DIRECTION=0;

}

CMOS_BACKUP

{

ENABLE=1;

NUM=10;

}

CELLSPATH

{

CELLSPATH=C:\Users\Public\Documents\Motoman\MotoSimEG-VRC\Cells;

}

CADTREE_VISIBLEINPUTAREA

{

VISIBLE=1;

}

}

You can shut system down swap converter 1 with2 and see if problem moves to 2nd converter.

Is this a TRC system running off 1 pendant like a 6300 system. If so I need to know what converter you have in the 1st controller? Converter or Servo board issue .

Do you have any external axis or just a stand alone. If a stand alone this could be a WACR board issue. What version of software are you running ? The WACR has software on it.

Have you ran a previous version on this computer? If you did not completely remove that version a conflict may occur.

Autobotics

If this error is intermittent you need to check and see if it is occurring at the same position in your program. This error can happen for various reasons. On the XRC platform I will always clean and blow out the servo pack and regen resistor. Clean dry air only with power off. Check to see if all cables are seated on servo board. The SV 3 robots can be a real pain. I have all the parts you need for repair Autobotics.