Rev Counter Update Issue [MOVED]

jwhite

We had a wire come loose and it shorted the 24 VDC power supply. We reset the power supply and it was ok. We then got an error message that the Revolution Counter needed to be updated. So we did that. When we tried to run our program, at every move we would get an error #50143 that the move was greater than 90 deg. We would clear the error and the move would finish, but the next move would cause the same error. We finally reset all our positions and that solved the problem. What did we do wrong and how do we prevent this from happening again?

alexandrewillame

I had a similar error with an ICR5 and IRB120T. When the Revolution counter are updated, it is supposed that the robot is at its initial position (all articulations are 0). If it is not, then the position at the time of the update will be considered as being the 0 of the articulation.

If you updated the counter while the articulations were not 0, you can re-update the revolution counters to the correct initial position by doing the following:

• With the help of a program such as: MoveAbsJ [[0, 0, 0, 0, 0, 0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v100, fine, toolflag;, move the robot to its initial position.
• the robot goes to the (wrong) initial position, that we will call q0. If the revolution counter is not updated at the real initial position, q0 is not the original 0 of the robot.
• Go to the TP Menu -> jogging
  
• Look and write down the current position. This is q0, that should be different from 0.
  
• Make the robot go to the articular position -q0. This correspond to the actual initial position where all articulations are 0
• Re-update the revolution counters there.
• Now, if you do MoveAbsJ [[0, 0, 0, 0, 0, 0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v100, fine, toolflag;, the robot should go to the real zero position.

Please tell me if it worked for you.

Sincerely,

amardebbari

alexandrewillame said:

I had a similar error with an ICR5 and IRB120T. When the Revolution counter are updated, it is supposed that the robot is at its initial position (all articulations are 0). If it is not, then the position at the time of the update will be considered as being the 0 of the articulation.

If you updated the counter while the articulations were not 0, you can re-update the revolution counters to the correct initial position by doing the following:

• With the help of a program such as: MoveAbsJ [[0, 0, 0, 0, 0, 0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v100, fine, toolflag;, move the robot to its initial position.
• the robot goes to the (wrong) initial position, that we will call q0. If the revolution counter is not updated at the real initial position, q0 is not the original 0 of the robot.
• Go to the TP Menu -> jogging
  
• Look and write down the current position. This is q0, that should be different from 0.
  
• Make the robot go to the articular position -q0. This correspond to the actual initial position where all articulations are 0
• Re-update the revolution counters there.
• Now, if you do MoveAbsJ [[0, 0, 0, 0, 0, 0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v100, fine, toolflag;, the robot should go to the real zero position.

Please tell me if it worked for you.

Sincerely,

i agree with you he must do calibration  again (Reference calibration) .

Checking the calibration position

Introduction

Check the calibration position before beginning any programming of the robot

system. This may be done:

• Using a MoveAbsJ instruction with argument zero on all axes.

• Using the Jogging window on the FlexPendant.

1 Using a MoveAbsJ instruction

Use this procedure to create a program that runs all the robot axes to their zero

position.

Action Note

1 On ABB menu tap Program editor.

2 Create a new program.

3 Use MoveAbsJ in the Motion&Proc menu.

4 Create the following program:

MoveAbsJ [[0,0,0,0,0,0],

[9E9,9E9,9E9,9E9,9E9,9E9]]

\NoEOffs, v1000, z50, Tool0

5 Run the program in manual mode.

6 Check that the calibration marks for the axes align

correctly. If they do not, update the revolution

counters.

2   Using the jogging window

Use this procedure to jog the robot to the zero position of all axes.

Action Note

1 On the ABB menu, tap Jogging.

2 Tap Motion mode to select group of axes

to jog.

3 Tap to select the axis to jog, axis (1, 2, or

3).

4 Manually run the robots axes to a position

where the axis position value read on the

FlexPendant, is equal to zero