does it keep its ABS data?
I ended up we were apparently not doing the origin procedure that was needed. We were doing a user origin and needed to do a mechanical origin.
Posts by jakegaspari
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The Mitsubishi RV-2AJ I just got working seems to have a couple of positions not quite correct. I was wondering I I can just adjust a couple of points on the program that I can open and it will be fine or what I have to do to get them corrected. I did not write this program nor have I written one for this robot. Therefore I'm a little leary about doing so. Any thoughts on this?
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SO this robot has not been running or even powered up for about 3 years. My group got a project and part of it is getting the robot going again. We have the program that we know used to work according to video evidence. No we went through and taught the origin position and got the program loaded. Problem is whenver we try and get it running it barely moves and faults out the servo. Is there some sort of range of motion we need to teach the robot too?
The manuals we have aren't helping at all and I am hoping someone on here can help.
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You have to teach the Origins most likely because the battery died.
These robots have absolute encoders which means their position is remembered and they will not need to home at the beginning of each initialization. Remembering positions requires power, they have some batteries that keep a small amount of voltage on the chip to remember the locations.
If you roboat has been off for awhile and it it lost power, you are going to need to reteach the origin positions.
The origin positions will be Joint values that let the controller know "HEY, I CANT GO ANY FURTHER IN THAT DIRECTION OR ILL HIT THE END STOP"
Here are my old notes for teaching the positions. Note, in this one, I had to (for some reason) teach twice and also the J3 axis had to go positive for the origin instead of negative:
You will need the teach pendant
Here are the instructions on how to teach the Mitsubish RV-2AJ
1. Turn the key to Teach on the controller
2. Turn the key to Enable on the pendant
3. Turn on the Controller, when the alarm sounds
4. Hit Reset
5. Turn off the Controller
6. Turn on the Controller, when the alarm sounds
7. Hit Rest (the alarm should go off and not come back on)
8. On the teach pendant hit the Menu button
9. Than 5 Maintenance
10. Than 4 ORIGIN
11. Than 4 ABS
12. When it says Servo Off hit Exec
13. Select all 1's to say we want to "Turn off all of the breaks"
14. Hold the dead-man, the move button and the x button all at the same time… the breaks will ALL TURN OFF
15. Move J1, J2, J5 to full negative…move J3 to full POSITIVE
16. Once finished, make all of the values under Axis 1 and hit Exec
17. When it asks you to execute, change the value to 1 and press Exec
18. REPEATE!
19. Axis List
a. 0 0 0 0 0 0 0 0
b. 1 0 0 0 0 0 0 0 -- TWIST (J1)
c. 0 1 0 0 0 0 0 0 -- Up/Down (J2)
d. 0 0 1 0 0 0 0 0 -- Second up/down (J3) ***NOTE THIS ONE HOMES IN POSITIVE!
e. 0 0 0 0 1 0 0 0 -- 3rd up/down(J5)
f. 0 0 0 0 0 1 0 0 -- Spinning tool
g. 0 0 0 X 0 0 X X -- NOT USEDThis is what I'm talking about
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So is this teaching the robot a range of motion? I am trying to get one of these to work after it has been off for years and after putting the program into slot 1 and ry to go to auto run mode it barely moves and then faults out as if the robot just hit a stop and faulted the servos out. Any thoughts on that? Does it need taught a range of motion?
I'm not having any luck just running through the manuals and the guy that originally set this up years ago is not able to be gotten ahold of.
