1 phase 230V 0,7A output 24VDC 2,5A
Where do you connect the power? Post the photo.
1 phase 230V 0,7A output 24VDC 2,5A
Where do you connect the power? Post the photo.
In Europe it's 400V 3 phase
For smaller robots, like LR Mate 230VAC (1 phase).
There is a variable $SEMIPOWERFL
= TRUE -> Hot start
= FALSE -> Cold start
But I haven't find any responsibble for controlled start.
There also $SCR_GRP[1].$MCH_POS, which is the current position of the arm in world coordinates, but it doesn’t update when jogged.
It does update when jogging but first you need to set $SCR_GRP[1].$M_POS_ENB = TRUE and cycle power.
Waiting for info, it always good to know for future
Collision adjustment was available earlier than R-30iA. I have some RJ3 robots running HandlingTool 5.3 that do collision guard adjustments. It is probably an optional feature. If you have it you have to setup a register to work with it.
It depends of the robot spec. - in CE spec. it was started with R-30iA (soft 7.xx).
Before it was not possible to have it - only enable/disable.
What was your cutting/welding speed? I'm running at about 40-80mm/s.
It was plasma cutting, my travel speed was around 40-60cm/min, which is around 10mm/s. In my opinion 40-80mm/s will be too fast for AVC. But I was making it with R-30iA, so maybe since now the function is also improved? I have no idea about it.
The disturbance of J2 and J3 is exceeding value of 2 than max allowed, but there is no warning for disturbance excess.
Disturbance excess will be posted around 30% more then allowed value.
Mind that, your disturbance allowed value could not be the original, could already be changed.
I tried once AVC (also not free), helps with smaller speeds, when your cutting process is fast, the function will be too slow to follow, and sometimes robot's reaction is too late
In R-J3iB Mate economical, because this is the control unit to AM100iBe, as far as I know, there wasn't any possibility of adjusting collision detection, only enable or disable. Adjustment was introduced with R-30iA controller.
So please try to disable collision detection and try, maybe it helps.
Hit to Lincoln and ask them - that would be the easiest way to check it.
I think not, but I'm not sure, this could be a part of system variables file, but when your system is not the exact clone, I'd not advise loading it. In my opinion, in this case the only way is to enter config manually.
If you want to make it a clone then just do a restore of the image.
Besides 'sysmast.sv' - otherwise you'll have a problem with mastering then.
So clearing up:
1. Make AOA backup (new robot) - Image could also be helpful if anything happens.
2. Load Image from existing robot to the new robot.
3. Load 'sysmast.sv' to the new robot from the backup made at the beginning (point 1).
Then you have the clone. But you need to be sure the mechanical units and controllers are exactly the same.
PROGRAM SETUP for sure is in controlled start, so as HawkME said - probably you're not there.
To be sure - what do you have in the field "xxxxx" when pressing:
MENU -> 0 (--NEXT--) -> 1 xxxxx
This will show us whether you're in controlled start or not.
Only full proof way is to use the mastering jig.
Not only this way, you could also use dial measurement gauge for one axis and it'll assure the position, until you can move the axis and prepare it to exchange the motor.
I'd check the disturbance as you pointed, besides that OVC and ov. heat. Finally after a while reducer usage parameter - log what it is right now, and then observe the change.
Hello Francesco.
Go to controlled start, then MENU -> 0 (NEXT) -> 1 PROGRAM SETUP.
Here there is a posibility to change the quantity of PR's.
and if you want the position in JOINT there're the following:
$SCR_GRP[1].$MCH_ANG[1] -> axis J1
$SCR_GRP[1].$MCH_ANG[2] -> axis J2
$SCR_GRP[1].$MCH_ANG[3] -> axis J3
$SCR_GRP[1].$MCH_ANG[4] -> axis J4
$SCR_GRP[1].$MCH_ANG[5] -> axis J5
$SCR_GRP[1].$MCH_ANG[6] -> axis J6
stonex, at fist change $SCR_GRP[1].$M_POS_ENB = TRUE and cycle power.
Then the following system variables show the cart positions:
$SCR_GRP[1].$MCH_POS_X -> axis X
$SCR_GRP[1].$MCH_POS_Y -> axis Y
$SCR_GRP[1].$MCH_POS_Z -> axis Z
$SCR_GRP[1].$MCH_POS_W -> axis W
$SCR_GRP[1].$MCH_POS_P -> axis P
$SCR_GRP[1].$MCH_POS_R -> axis R
From my experence I'd say the motor is broken or cables. Sometimes the reducer.
What about other axes - do they move without any problems?