You should definitely check those cables thoroughly. Based on those pictures and the wires being #22-#24AWG, it's very easy to pinch/break them. Those are the resolver cables and would give you all kinds of position or sync errors... I would check those cables first before ordering a ton of parts.
Posts by Viperacebb
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I've seen this before and it sounds like the base cable in the IRB6400. It's not too difficult to change, but you must be aware of all the screws holding the cable braces down on the inside (both on the floor and up on the rotating axis internally). It run in the base like an "S" shape and can be a pain at times. Invest in some short, hex bit set (I think it's a T25 in there) and a short driver for it. I found a small rachet style works best. Patience is what you will need to get through this. It's rare that a motor itself shorts out and seeing as it's bouncing from 1 and 2 axis... leads me to believe it's the base cable. Just my 2 cents.
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If you can release the brake by pressing the #2 button at the base and the robot can move freely (be careful it doesn't fall down. Maybe secure it with a sling or post), it could be the brake release unit. If the robot still feels jammed, it most likely a failed brake in the motor itself. If you have a 24VDC power supply, you can connect directly with the 2 small wires (it will be polarity sensitive) on the larger square connector inside the motor itself (the one that supplies motor power, not the 9 pin D-sub connector for the resolver). If it allows free motion after the power supply is connected and powered up, it travels back to the brake release unit (or cabling going back). Find the route cause before switching out components. It will save you time and money in the long run.
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I believe you would have a service routine called LoadID. I would recommend running this and follow the instructions. This would set the tool and/or load with the proper center of gravity (based on the robots calculations) and should run better following this. See if you have it by going to the service routines in the program editor screen. Keep in mind you will have to run this in manual mode and then auto mode. I always check in manual first (as it gives you the option to just do it in auto) as It will follow the same path in manual/auto. If you need to cancel and restart, you will need to cancel call routine, bring it back to the main and then try the service routine again. I recommend placing the robot in a safe place with a good amount of room before trying this. Good luck!
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Good day! I've seen this happen in the past. I would put a meter on the 24VDC side of the contactor to see if it's maintaining the 24VDC, even once the contactor let's go. It's possible that the safety board is acting up, releasing the 24VDC from the contactor following the motors on request. Are all the safety chains illuminated? Are there any other faults coming up prior to this fault? Once you've verified the 24VDC, you should check the 0VDC side as well. This happened to me once and found a bad contact or a loss of 0VDC. Use a known 24VDC as a reference when checking. Just some things to try.
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The software is very intuitive and helpful. It will make ease of programming to be honest. I found it extremely helpful (worth the money). Best of luck!
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Hi!
If you're connected in WorkVisual, you should see a section on the lower left hand side of the screen (Workspace Selection). In this window, you should see Configuration and commissioning and Programming and diagnosis. If you click on Programming and diagnosis, it will bring you to a different screen all together. Here you will see different tabs at the top and on the right side, you should see the Cells tree. Here is where you should see the controller you are connected to. Make sure it's "checked" off or selected beside the name. On the top tabs, you should see 6 sections with multiple icons in each (this is fairly difficult to explain with showing pictures). The first icon in the 4th section from the left called "opens and edits for online systems" is the one you should select. The screen should show you the current status of the controller you are connected to. You will also see an "archive" towards the right of that screen. This will take a complete archive of the system and will allow you to restore from this as well. You can also take one from the USB as a secondary source to be on the safe side (until you gain comfort). Sorry for the long post, but hope it helps in some way. Good luck!
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I have a couple of questions... Is this a used robot or new? Does it already have the integrated vision option as part of it's system? I can tell you first hand that integrating cognex vision camera's with ABB (with the option installed) is a lot easier than you think. The basic options are available through RobotStudio, but you can always modify an excel spreadsheet and import it for more complex programming.
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Here's a link to RobInstall 4.0 Rev127. You will still need your key and any option disks/keys you may have had before. Good luck!
Robinstall RW4.0.1271 file sent via WeTransfer, the simplest way to send your files around the worldwe.tl -
Here's a link to 3.2 rev56 (last revision before it became obsolete). You will still need your key disk and any option disks you may have had before. Good luck!
S4C RW3.2 Rev561 file sent via WeTransfer, the simplest way to send your files around the worldwe.tl -
It looks like you are using RobotStudio. If so, this is fairly easy. Go to the Home tab - Other (drop down) and create tool data. This is where you would input the data that you're looking for. Based on the picture, it looks like it's straight off the flange, so you would be putting a + value on the Z (as Z comes straight off the flange). You should also put the weight into the system in kg (i.e. 2 for 2kg). Depending on the year and model, I would also suggest running the Load ID with the tool and another with tool and load (i.e. part). This would help with using collision detection and can be fine tuned to eliminate bad crash problems. I hope this helps!
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You could look into RobotMaster as well... If you're in the market. It's pretty powerful and it's been used with ABB/Kuka/Motoman and the list goes on.
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Hi stanH678! Sounds like you don't have the safeties tied in properly (or there's something wrong with the estop from the controller or pendant. To test this, make sure you have a jumper from A81 (backplane) X1:3 to X1:4 to X1:5 and then another jumper from X2:3 to X2:4 to X2:5. This will satisfy the ES1/ES2 top circuits. You will also need to do the same for X1:9 to X1:10 and another from X2:9 to X2:10. Place another on X1:7 to X1:8 and yet another on X2:7 to X2:8. If this doesn't help, than the issue lies with the pendant (connection came out of the contacts) or at the cabinet estop (which I've seen the little clips break off and cause this type of issue. Due to the dual chain estop, it needs to see both channels go low and then high TOGETHER or it will kick up those types of errors. Hope this helps!
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Thank you Black!
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