Automatic Rev counter update via sensor/switch

eric_ULC

Hello,

We have an additional 7th axis on our IRB6650S. This axis is disconnected and reconnected as part of a routine. When disconnected, the resolver loses power and its stored absolute position.

We have a precise "home switch" that is triggered when the axis is in a specific, unique position. What function can be used to programmatically move the axis until it triggers the switch, and then update the rev counter based on that position? In other industries, this is sometimes referred to as "homing the system" or "reference move".

This is basically the same thing as when the operator would move the robot to "line up the arrows" to do a manual rev counter update, but it needs to be automatic. 

Thank you
Eric

lemster68

The robot will not execute a program if any of its axes are unsynchronized.  It is a matter of safety.  It will not run because it does not know for certain the position of the axis.  Do you deactivate the unit, then disconnect?

DavidLanham

There is a software option 630-1 Servo Tool Change that will do what you want.

eric_ULC

lemster68 said:

The robot will not execute a program if any of its axes are unsynchronized.  It is a matter of safety.  It will not run because it does not know for certain the position of the axis.  Do you deactivate the unit, then disconnect?

Yes, we deactivate it, then disconnect. Then we perform other operations without it, then retrieve it and reconnect it. After reconnection, we need to undergo a process where the axis position would be determined. Other industries call this a "home" or "reference" move. It's a slow movement until an input is triggered by a relatively precise switch (in this case, it's an inductive prox sensor on a knife edge).