Motion Supervision

David Crowe

The motion supervision can be turned off for both Path and Jog functions in the parameters.

We have found that sometimes people will forget to turn them back on which leads to robot crashes. Can the system be set up so that when the robot is switched back into auto mode from manual it will switch the path supervision back on.

Or is there a way that Motionsup can override the manaul parameter change

PerSvensson

Hi

Use the rapid instruction MotionSup

David Crowe

What happens use the MotionSup instruction and a person turns off path supervision in the parameters?

I have read that the manual turning off of path supervision overrides any instructions

David Crowe

What happens use the MotionSup instruction and a person turns off path supervision in the parameters?

I have read that the manual turning off of path supervision overrides any instructions

! If the motion supervision is deactivated through the system parameters,

! then it cannot be activated through the MotionSup instruction

PerSvensson

Hi

You could also read/write the configuration using ReadCfgData and WriteCfgData

    VAR bool bPathCollision;

    PROC CheckPathCollision()

        ReadCfgData "MOC/MOTION_SUP/rob1","path_col_detect_on",bPathCollision;

        TPWrite "Path Collision On: "Bool:=bPathCollision;

        IF bPathCollision=FALSE THEN

            WriteCfgData "MOC/MOTION_SUP/rob1","path_col_detect_on",TRUE;            

        ENDIF

    ENDPROC

For the names of config parameters to read/write check in the Technical reference manual - System Parameters.

David Crowe

Hi Per,

Thanks for your help. This seems to be what I am looking for.

szily85

Dear all

I have a small problem that I can`t resolv. I have an IRB 140 robot and a tool that has about 4 kg weight, I set up the inertia, payload, collision detection and everything for the robot but I still have an error message. See on picture.

I use MotSup Off to avoid this error, but I need anyway to fix it.

There`s nothing to hit the robot, and as I start the motion it stops and I got this message.

Can somebody tell me what can I do? What would be the solution?

webwiz/5071/Err.jpg

Thanks

Szily

PerSvensson

Test decreasing the acceleration using AccSet instruction?

szily85

Hey,

I tried with AccSet and the problem still persist. I set up the tool data in RB studio and uploaded on the real controller and I can`t figure out what is the problem. Could be some system setting problem?

Because I made a totally new Target for the robot, with the Wobj0, and tool0 and I tied to run it, and still have the message. It works only if I use MotSup Off.

Any idea?

szily852013-02-22 13:52:48

szily85

Hey,

I tried with AccSet and the problem still persist. I set up the tool data in RB studio and uploaded on the real controller and I can`t figure out what is the problem. Could be some system setting problem?

Because I made a totally new Target for the robot, with the Wobj0, and tool0 and I tied to run it, and still have the message. It works only if I use MotSup Off.

Any idea?

David Crowe

Not sure if this is any help as you may have it already set up but on our IRB260 robots we had to adjust the sensitivity

?_? Path Supervision in automatic and manual full speed mode used to prevent mechanical<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

damage due to the robot running into an obstacle during program execution

Action Info
1. On the ABB menu tap Control Panel and then
Supervision.

AlexK

[QUOTE=szily85]Dear all

I have a small problem that I can`t resolv. I have an IRB 140 robot and a tool that has about 4 kg weight, I set up the inertia, payload, collision detection and everything for the robot but I still have an error message. See on picture.

I use MotSup Off to avoid this error, but I need anyway to fix it.

There`s nothing to hit the robot, and as I start the motion it stops and I got this message.

Can somebody tell me what can I do? What would be the solution?

webwiz/5071/Err.jpg

Thanks

Szily

[/QUOTE]

 

Have you run LoadIdentify on the robotcontroller? Don't know if it's avalible on the 140 but I think it is. Run that to get the correct payload and tool values as the robot sees it

RStevens

You have a problem with Axis 2.

 

Is there something mounted on the robot?

If Yes, check the armload systemparameters.

 

This becuase when the tool is to heavy, you get problems with the wrist axis.