December 19, 2018, 01:46:10 AM
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 After creating a cube interference, the specify output, SOUT #081 does not ON

Author Topic:  After creating a cube interference, the specify output, SOUT #081 does not ON  (Read 5719 times)

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May 22, 2013, 08:11:35 PM
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After creating a cube interference, the specify output, SOUT #081 does not come on. Normally this output comes on after I've created a cube zone using the max/min method which is positioning the manipulator far upper left corner and then lower right corner. After creating this method I press modify for each, max/min, but the output still does not come on, so my table when needs to sweep in and out slams all the way with the stop block near the proximity switch, which tells me the decelerator for A-B side is not coming on all at. Does any one, surely run in to this could give me some feedback.

PS, I am in working on a MRC controller, Robot SK6 Arc Weld II Unit.


Today at 01:46:10 AM
Reply #1



May 22, 2013, 10:47:47 PM
Reply #1


Try jogging the robot into the cube to see if the SOUT bullet comes on.  Usually if you use MAX/MIN you will be on the border of the cube, and not actually in the cube, once you teach it.  And make sure you have accurate tool data - if the tool data is inaccurate, the cube will follow suit.  Let us know how it goes.

May 23, 2013, 01:49:35 PM
Reply #2


Well, since I re do tcp, all 5 tcp were taught and calculate, I jump to create my cubic interference zone, and I monitor SOUT #081 and the circle darkens on but once I send the robot to work position the SOUT#081 defaults back to off, circle, and why it does that? any suggestions.

May 23, 2013, 02:38:06 PM
Reply #3

Fabian Munoz

Sounds to me that the points you have in the program were taught with "who knows which tool"
Print out the program and check     point ----> tool    correspondence  and then   check which cube is active with which tool
« Last Edit: May 24, 2013, 11:15:12 PM by Fabian Munoz »

May 24, 2013, 11:10:47 AM
Reply #4


Well, after all I've the cube created and the SOUT#081 is on now but, the only problem I am getting is whenever I cycle start my positioner sweep A-B, does run but it does not decelerate, all my inputs and outputs configuration from my master job and sweep programs are correct and at the same time I can see how the I/O goes on and off, so the deceleration input for A & B are turn on but the positioner table still slams against the end stops, I call motoman and I ask if they could tell me what parameter controls the speed for the positioner motor so I can slow down the speed but motoman said they can not answer me this question, and they point that my motor drive "positioner table" is the problem, any comments and feed back I'll appreciate it.
PS. My weld cell is a motorman AWII with a MRC controller and SK6 manipulator, thanks.

July 17, 2013, 08:23:13 PM
Reply #5


I found the Parameters for Cube 1 Interference Area:
S3C024 X(+)
S3C025 Y (+)
S3C026 Z (+)
S3C027 X (-)
S3C028 Y (-)
S3CO29 Z (-)

July 18, 2013, 01:23:17 PM
Reply #6


Today at 01:46:10 AM
Reply #7



July 18, 2013, 06:05:22 PM
Reply #7


Most of the MRCs positioners were air powered in the US.  At some point in time they became inverter controlled with a G5 inverter.  Haven't seen any servo controlled on MRC.
Alcohol:  The cause and solution to all life's problems

July 19, 2013, 12:09:20 PM
Reply #8


Right Devils, the table is controlled with a inverter. I am still fighting to get this motor to decrease FWD & BWD Speed. My MRC is sending the output for deceleration and the motor controller box is not slowing speed at all. I have taught the cubic interference about 10 times and still SOUT# 081 flash on after creating it and flash off when I clear Cubic Inter. Values. My maintenance crew check the motor and the controller and they're telling me there is nothing wrong with the positioner as far Hardware. So maybe there is bug in the I/O processing "I think", any advice from you guys, thanks. :wallbash:

July 19, 2013, 03:23:08 PM
Reply #9


Been over ten years since I worked with a G5.  If I remember correctly the robot job would tell the inverter to run and a direction.  The robot job would wait for an input saying it is at side a or b.  I thought that the decel was a parameter in the G5.  I though there was a switch on each side that would say decel then another set of switches to say at side whatever.  The decel switches were wired into the G5.

I may be totally wrong.  Too long ago and I've slept since then. 

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