Robot and track issue

Guy_Allanson

Hi

I have swapped out a 6400 and track for a 6600 and track(6004). When the robot carries out its cycle it sometime comes up with this error : 50052 Error : Joint speed too high. The speed of Joint TRACK is too high.

This error happens only on aggressive moves. I have inserted "Accset" reduction upon the problem moves and this has sorted the issue.

I believe the error  is caused by the track position resolver reading a different position to the programmed position. It is moving with the rotation force of the robot affecting the track.

I have heard on previous installations  with tracks that we have here that we once had similar issues and the problem was overcome by either turning the track motor on or off once robot had reached it routine position.  I dont need the track to move during its pour cycle only for arriving there.

Does anyone have any information on turning external axis on and off so that the track resolver is not concerned with its position. Can anyone offer advice or let me know which manual would be best to reference for this information 

Cheers

Guy

graemepaulin

Hi

Attached are a couple of extracts, one with the rapid commands for activating & de-activating mechanical units, the other for disconnecting the unit.

I am not sure if you will have to go as far as disconnecting the unit - try de-activating it first and see if your error disappears.

Regards

Graeme

Guy_Allanson

Hi Graeme

Thanks very much  for the info I will try this on Monday.

Regards

Guy