ABB 140 physical robot freeze! Please help.

Laro88
✭
I have a couple of physical 140 robots (one at a customer unfortunately) that has a wierd behaviour.
The following instruction causes the IRC5 controller to hang from time to time.
It is a part of a safe "go home" routine so it is executed quite often.
MoveAbsJ jointtargetHome,speedFree,fine,tool0WObj:=wobj0;!M0;
Sometimes this makes the robot "freeze" - it just stands there doing nothing until the motors come off automatically. I have to switch to manual, move a bit and then things are fine.
What might the cause be (it never happens in a virtual controller) and how do I fix it.
Both robots are running 5.14.03, and everything else seems fine.
The following instruction causes the IRC5 controller to hang from time to time.
It is a part of a safe "go home" routine so it is executed quite often.
MoveAbsJ jointtargetHome,speedFree,fine,tool0WObj:=wobj0;!M0;
Sometimes this makes the robot "freeze" - it just stands there doing nothing until the motors come off automatically. I have to switch to manual, move a bit and then things are fine.
What might the cause be (it never happens in a virtual controller) and how do I fix it.
Both robots are running 5.14.03, and everything else seems fine.
0
Comments
-
Note, that the freeze only happens when the physical motion is next to nothing - basically executing the instruction twice. Jogging at bit out of the position makes the robot behave nicely again.
0
Categories
- All Categories
- 5.6K RobotStudio
- 398 UpFeed
- 20 Tutorials
- 13 RobotApps
- 300 PowerPacs
- 405 RobotStudio S4
- 1.8K Developer Tools
- 250 ScreenMaker
- 2.8K Robot Controller
- 330 IRC5
- 66 OmniCore
- 7 RCS (Realistic Controller Simulation)
- 826 RAPID Programming
- 9 AppStudio
- 4 RobotStudio AR Viewer
- 19 Wizard Easy Programming
- 105 Collaborative Robots
- 5 Job listings