Stop background: Robot with grasp of the gripper, put the grip in the station, then the PLC and fixtures will be fixed, the robot is disengaged, and the other robots began to weld. After the work is over, the robot is to grasp Hand, leave the work, and then catch the part.
Difficulty in troubleshooting:
Since the starting jig and PLC combined control need to turn off the safety door control fixture to achieve sequential control so that we can only observe the first time of the fault can only be observed by the robot IO.
There is no fault when the robot grabs the hand, and it will only report an error when the robot is disengaged.
Cause Analysis:
Programming:
-------- put down the trajectory:
PTP VB = 100% VE = 100% ACC = 100% Robwzg = 1 Base = 1 spstrig = 0 [1 / 100S] P
- undock greifePosition - Location of the starting point
LIN VB = 200 [mm / s] VE = 0% ACC = 100% Robwzg = 1Base = 1 spstrig = 5 [1 / 100S] P
1: FB PSPS = Ein
2: a23 = aus
3: Warte Bis E58
4: - (A75) WERKZEUGFREIGABE 6 PF2V3112020 WZ1Z33-34 Steuern V / R -
5: A75 = EIN ------ The robot will issue PLC and fixtures after in place
6: - (e75) Stellungsfreigabe 6ms2v2 112016 TEIL Einlegen ausfahrt -
7: Warte Bis E75 ----- PLC allows robots to leave faults
8: A75 = AUS ----- Turn off the robot allows the PLC to clamp the clamp.
9: Tech3_Pn-Docken ID-NR = 145Abschalten EIN Turn off the network
10: Warte (EIN) Zeit 5 [1 / 10sek] Waiting time
11: Warte Bis E23
12: a23 = Ein
13: SPSMAKRO422 =! E540 fast replacement reset
14: SPSMAKRO420 = EIN opens the quick-replacement header A539, remove the quick shift.
15: FB PSPS = E42 & E46 & E58 & E75 & E80 & M30
- When the unlock signal A539 issued opens the quick-switched head, the safety stop is not detected by the security module, so the quick shift is reported again and has no E540.
"Unlock" signal fault
In the standard version, if the "unlock" signal is set, the security switch is not activated, this state will be identified as a fault, the LED H5 is bright red, after 2 second delay H6 bright red light
- After undock greifeposition - From the position of the starting point
LIN VB = 150 [mm / s] VE = 0% ACC = 100% Robwzg = 32 Base = 1 spstrig = 5 [1 / 100s] P
1: FB PSPS = Ein
2: a23 = aus
3: Warte Bis E23
4: a23 = Ein
5: A539 = AUS - Reaching the disengaged valve control after arriving in the disengaged position.
6: FB PSPS = E42 & E46 & E58 & E75 & E80 & M30
PTP VB = 100% VE = 0% ACC = 100% Robwzg = 32 Base = 1 spstrig = 0 [1 / 100S] P
-------- put down the trajectory:
PTP VB = 100% VE = 100% ACC = 100% Robwzg = 32 Base = 1 spstrig = 0 [1 / 100S] P
- Before Dock GreifePosition - Front position
LIN VB = 100 [mm / s] VE = 0% ACC = 100% Robwzg = 32 Base = 1 spstrig = 5 [1 / 100S] P
1: FB PSPS = Ein
2: a23 = aus
3: Warte Bis E23
4: a23 = Ein
5: SPSMAKRO422 =! E540 ----- Fault reset
6: A539 = EIN ----- Open the quick shift unlock
7: WARTE BIS! E538 & E539 & E540
8: FB PSPS = E42 & E46 & E58 & E74 & E80 &! E538 & E539 & M30
- DOCK GREIFER POSITION - Capture Location
LIN VB = 100 [mm / s] VE = 0% ACC = 100% Robwzg = 32Base = 1 spstrig = 5 [1 / 100S] P
1: FB PSPS = Ein
2: SPSMAKRO422 =! E540 ----- Failure Reset
3: spsmakro421 = ein ----- Open the fast champion lock
4: A23 = AUS
5: Tech3_pn-docken ID-NR = 145Zuschalten EIN ----- Parlist
6: Warte (EIN) Zeit 1 [1 / 10sek]
7: A75 = EIN ---- - Robot allows PLC fixtures to open
8: Warte Bis E73 ----- Waiting for PLC release
9: A75 = AUS ------ Close the robot allows the PLC fixture to open
10: f1 = Ein
11: f3 = Ein
12: SPSMAKRO342 = Ein Opened clamp
13: SPSMAKRO340 = EIN Close the valve
14: Warte Bis M31 & M35
15: f2 = Ein
16: f4 = Ein
17: SPSMAKRO342 = EIN Open the clamp
18: SPSMAKRO340 = Ein Close valve
19: Warte Bis M31 & M33 & M35 & M37 & M81
20: Warte Bis E23
21: A23 = Ein
22: FB PSPS = E42 & E46 & E73 & E80 & M30 & M31 & M33 & M35 & M37 & M81
---------- When the robot is gripped - the safety switch of the robot quickly does not detect the safety stop, the E540 does not start automatically closing the lock counter, at this time, because there is E538 to catch Part.
PTP VB = 100% VE = 0% ACC = 100% Robwzg = 1 Base = 1SPSTRIG = 5 [1 / 100S] P
measure:
Check the robot to grasp the hand trajectory, the placement trajectory has a deviation, and the platen is tilted, and the robot is optimized to put the hand trajectory.
Optimize the robot to keep up the rising trajectory.
Check that there is no problem with the fast-changing connection.
Analyze the program, analyze the time series.
There is a little small in the safety baffle, adjust the angle of the safety switch detection the baffle, troubleshooting.
Safety detection switch
Safety stop
Safety detection switch and safety baffle detection range:
Solution:
--------------- Security switch fault --------------
Safety switch fault: no E540
If the security switch fails, the module will output a fault signal and indicate it through the LED H3 bright red light.
------------------- "Unlock" signal fault ------------------
Editor: lq, read full text, original title: Some sense of displacement failure
Article Source: [Micro Signal: GH_A8B121171B08, WeChat public number: Machine learning algorithm and artificial intelligence] Welcome to add attention! Please indicate the source of the article.
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