Multi-Group Motion A motion group defines a set of motors and axes that are combined to accomplish a motion task. You're dealing with a six axis robot that may be wall or overhead-mounted. I have ran Fanuc's built in auto-detect payload program and it never matches the payload values given to me by the design guys. Basic Process Axes Basic Process Axes allow you to configure and operate a servo motor or motors independent of any motion group using either group inputs or two special teach pendant instructions. Collision Guard also helps to prevent damage during teaching. I have a couple of routers that occasionally get the Disturbance Excess alarms.
The design is optimized to feed aluminum and soft wire. Some of our machines have a shock sensor that is set finer than the robot, but sometimes they cause more problems than they solve. Our four standard cells were designed to meet the most common robotic welding needs, and are a fast way to get started on your automation journey. The alarms aren't 100% repeatable as you mentioned, but I am narrowing them down to when and where they somethimes happen and adjusting the collision guard until they don't show up again in that area. Also, there is no one 'torque limit,' either.
It can also be used in applications in which the robot payload changes, such as in handling applications. I slow them down when running heavy parts. Thanks in advance for any help. If this page looks broken please consider using another browser or updating your browser to benefit from the advanced functionality. Is there a reason to not just go straight to 200% in a critical area? I am currently dry running a new robot setup at 100% and I have a few concerns as I'm getting Disturbance Excess alarms. I basically default to 100% and then when im going to pick or drop parts, anywhere Im anticipating a collision, I go up to 125-150%.
My boss wants to know the specifications of the collision guard pack i. Each cell is ready to work with Lincoln® or Miller® equipment. Does anyone use the auto-detect and if so, does it match known good values? Integration of the wire feed motor with the motion control of the robot results in a close coupling of the welding process. I have never seen a torque spec, but I'm sure it varies by the model of robot you have. With no need to invest in costly, space-taking safety equipment, it also helps keep the space required for robot cells to a minimum. Does anyone know of any easier ways to calculate the payload, the formulas in Fanuc's manual are a little hard to follow. It is adjustable by a % of sensitivity.
In this cell the cycle time is quite critical so I have a lot of moves at 100% which im sure is making the robot more susceptible to errors due to my incorrect payload. It is only there to prevent machine damage, but if you have a hard crash, something is still likely to be damaged. Above everything else, operator safety represents the most critical component of robot cell design. Collision Guard is effective for both program and jog motion. A process motor has the following characteristics: The axis accepts only speed commands, the axis position cannot be commanded directly, and the axis does not belong to any motion group.
One or more axes may be compensating for gravity to keep the payload in position, and a given collision isn't just a matter of exceeding a torque limit. . By delivering greater selection we think that our readers can get the suitable digital book they want. Problem areas can be identified by viewing a bar graph that shows the top five faults by incident, longest time, and total time. Are you using multiple payloads, i.
I know I do not have accurate payload info, I have worked with the design guys and we even have calculators from our corporate office that is supposed to take the Solidworks model and output payload info, but the numbers never seem accurate or are obviously way off. It makes Collision Guard work better. It adjusts axes J2 through J5 mastering data and J2 through J6 axis spring constants. The maximum number of groups that can be supported by a controller is eight. Note In order to decrease the force of collision, Collision Guard allows the robot axes to sag away from the collision for 200 milliseconds after detecting a collision. This option is recommended for driving conveyors, spindles etc. Do most people start low and increase as I normally do or just leave the speed at 100% from the start unless there is an issue then slow down where needed? The challenge with adopting complex, custom solutions lies in the time and capital investment for custom integrations.
Built-in functions typical to body shop applications are provided, allowing the user to teach positional data and logical sequences easily using familiar terms and menu commands. You can then use the teach pendant interface to analyze trends graphically to identify corrections to abnormal process behavior. It is committed to offer by far the most suitable as well as correlated eBook in our collection on your desired subject. How high of an increase do you go-150% or even higher? Be aware that when running the program in manual, the jog-mode higher sensitivity may be overriding your programmed settings. Process Logger Process Logger collects process-related application data.
Normally I initially program a cell with no move at more than 50% of max possible speed and then ramp as needed by customer. For more complex robotic welding needs, learn more about the Acieta has integrated. I have had to weigh the tooling and guess on where the center of gravity if I don't have payload info. This helps to minimize the potential for damage to the end-of-arm tooling and robot. Most of my robots run at 100%. Collision Guard is in effect both during jogging motion and programmed motion. The graph only shows faults that occur during production and sorts out repetitive faults that were not fixed.