Posts by C.Crosby

    I just got this error as well today. powered on machine, confirmed payload and no contact on DCS screen. went to jog robot around and as soon as I push the deadman it triggers this alarm.




    i have a work cell welding multiple different parts together to make one part. there are several versions of the final part but the difference is its length. All these versions of the final part use the same jig to locate individual parts. i have a main program which calls out sub programs, one fore each different part. my sub program for POCKETS is dialed in and now i need to do those same welds and moves but -460 mm in Y from their current location. All points in the POCKET program are taught in UF1 and UTOOL1. this shift of the program needs to be permanent and not require me to go change something each time production wants to switch product to run. i would have a different sub program to call out for each different part location ex: POCKET1, POCKET2, POCKET3, etc.

    is there a way i can make a copy of my dialed in program, rename it to what i want and shift all the points -460mm in Y? i don't have enough available uframes for each POCKET program to be asigned it's own.

    Is it possible to lock out the teach pendant so it can't be used to move the robot in manual mode but still be used in AUTO? I know I can set passwords for INSTALL, OPERATOR, PROGRAM and set levels and timeouts, etc but they still allowed me to move the robot around manually. I was hoping to prevent anyone working in that cell running parts from turning the machine to T1 and trying to move the robot around. recently had a torch head get bashed up and nobody knew how even after telling them I can see 15 minutes before I got there someone turned to T1 and than switched back to AUTO 5 minutes later. trying to avoid that scenario in the future.




    Powerwave r450

    I'm looking at playing around with TAST to see if it's something i wanna use in my programming during weave welds. I see a lot of settings i can play with in touch schedule details and i know how to call it out in my program. I also noticed there a program labeled TASTMAST {TAST Mastering}. if i try to run that program it says "NOT IN ADVISORY/DIAGNOSIS MODE press enter to quit". What exactly is TASTMAST? is it something i need to do before making changes in my touch schedule for it to work? i ran some purposely slightly crooked parts with TAST and wasn't really seeing a difference in weld path.

    R-2000iA 165F



    So my work has several R2000iA 164f machines with R-J3ib controller. Most of our robots have welding equipment setups. My boss was thinking it would be a good idea to setup one in its own cell for me to create programs on and test them out. Than we would transfer that program to a different machine we already have operating in a production welding cell. The thought being we would have less down time programming new parts on a production robot and there would be less pressure to hurry up and finish programing so we can get back to running production. I than can focus on trying new things, fine tuning things, etc on my own "test" robot cell.

    what things should I take into account to achieve a smooth transfer of programs from one robot to another? All welding robots will have the same welding equipment on them and power source as well as the test cell robot.

    what issues could I possibly run into?

    I haven't really played around yet to see what stuff id run into other than thinking about different scenarios, just trying to get an idea as I'll be messing around with it in a week or two. anyone else do this and have experience to share?


    check to make sure the Remote/Local setup is turned to Local.

    MENU, SYSTEM, CONFIG, scroll down until you see the Remote/Local setup option, press CHOICE to select a different option.

    interesting, unfortunately I'm not sure beyond what was already mentioned as I myself am still pretty green when it comes to robots. I work on enough projects though in my spare time to know that sometimes the little things get missed. hope someone with more knowledge on here can be some help.

    After touching up user frame did you power off the machine and power it back on? the guy who set up our robots(not a robot guy by any means) would touchup user frames and then try his program and it was still off. than he'd come back the next day, after daily shut down, and things would be back to normal or more off depending on what he did, he didn't know you had to power off for his user frame touchups to save and actually change.

    From my past experience -

    Write a quick "grease work in" program to run in T1 during the greasing process. Make sure you move all of the joints the recommended amounts from the manual, I usually run this program at 100% of T1 speed for about 5 minutes. Put the caps in.

    Another (dumb) question - is your payload set correctly on the robot? You'll get collision detect alarms all day long if you have nothing on the wrist and your robot thinks it should have 165 KG of payload (the default from the factory is 100% of it's rating). If you can't get the payload info perfectly from SolidWorks or a calculator, weigh it at least or best guess at least. I worked at an automotive manufacturer as a Robot Maintenance specialist and maintenance supervisor. After we changed one of the car lines over to a new model, one of our biggest robots (M900iA-600L) kept giving us collision detect alarms. So to temporarily make it through to the end of shift we bumped the sensitivity down. Then we re-ran the "automatic payload calculator" between shifts, and found out the Payload Info was off by about 75 KG, and the center of mass was off by about 300mm. Once that was done, set the sensitivity back to normal, no more issues.

    I like that grease program idea, sounds easier than manually moving the joints the way it's specified in the maintenance procedure.

    we ended up swapping j6 servo and mastering it, no more collision alarm. thanks for the useful information on payload settings.

    i had a similar issue. ended up having to use the powerwave manager software and release all the options. my maintenance guy had it setup wrong and wasn't showing all the options in the pendant search.

    we got the j6 servo swapped in and the error code hasn't happened yet. maintenance is now aware what the inside looks like when they sit and will PM it before use. these are new for all of use here so we weren't sure what was normal, acceptable or not good lookin. thanks for the continued help guys.

    my work has some R-2000ia 165f machines we are implementing into production. the most resent one had a srvo-050 collision detection alarm that would go off upon trying to move the robot. we looked into a bunch of causes after i researched what could trigger that alarm. i inquired to my head of maintenance about the last time this machine was greased? too much or too little isn't good. he said it's good to go, all PM's were done. he has all the proper documentation to know how and when this stuff should be done. one of his guys pulled the plug by axis 6 servo to check levels and got blasted with grease. its was his understanding that it shouldn't be under that much pressure? now it doesn't trigger that alarm anymore. does that sound like an improper PM? too much grease?

    my main question is if you didn't stick to the PM schedule properly what could that damage? obviously the components of that axis but what else? Could that effect the points in my programs?

    any info is ammo for me to make sure they stay on top of this and properly.