50366, Reference Error [PickMaster 3]

PickMaster
1

I have a multi-move system, 2 robots / 1 IRC5, where each robot performs a double-pick process. I can’t seem to run the robots faster than 1200 mm/s. Each robot will perform the first pick and then then the controller faults out:

50366, Reference Error

An error has occured with the reference calculation. Internal status -302.

If I lower the robot speed, the system runs fine. Has this happened to anyone? It is the first time I ever get this type of error. I have robotware 5.12.1021 installed.

Thanks.

2

Hi Dino,

please check value of Adjustment Speed in Systemparamaters and increase if necessary.
That should help in this case.

BR

3

Thanks DaPin.

I will verify the parameter today.

4

Dapin,

Are you referring to the linear max speed parameter under the motion planner?

Thanks

5

I think the speed you need to check is in the Process, Adjustment Speed, we normally set to 2500ish

6

Thanks Mike,

No problem. I just checked the value and it is set to the default “250”. I will make the changes and hopefully, the error does not return. Thanks.

7

Yes mikemetcalfe is right in the Process - Adjustment Speed.
Default Value is 850, change first to that value.

8

I just want to give some extra tip how to define the adjusment speed.

The adjusment speed should normally be ca = to 130% of the max convoyer speed.
This will mean if you conveyor runs at 1200mm/s the adjustment speed should be around 1560mm/s.

For info the max conveyor tracking speed of an IRB360 is 1400mm/s.

BR,
Fabrice

9

I made the changes yesterday and I can now run the robots fast. Thanks for the feedback, I appreciate it.

Dino

10

Guys,

The error returned today as well as the axis 4 motion supervision error. I am wondering if I have reached the limit of my system or if I need to re-define the tcp data.

I have been running the robots at 2000 mm/s, conveyor at 400 mm/s (product spaced at 8 inch intervals). We decided to increase the robot speed to 3000 mm/s and maintain the existing conveyor speed but reduce the product spacing to 6 inches. As we did so, I got an axis 4 motion supervision error as well as the internal reference error -302.

My tool weighs 2.139 kg’s without product. The product weighs 0.127 kg and with the double pick, the total weight equals roughly 2.4 kg’s. The center of gravity of the tool is well within the payload curves. I have the ItemLoad set to 0.127 kg for the 1st pick and then I have the ItemLoad set to 0.254 kg for the 2nd pick. My Tool TCP’s are as follows:

TASK PERS tooldata tRob2GripPickLeft:=[TRUE,[[60.325,0,97.0534],[0,0,0,-1]],[2.139,[0,0,41],[0,0,0,-1],0.013,0.0151,0.00739]];

TASK PERS tooldata tRob2GripPickRight:=[TRUE,[[-60.325,0,97.0534],[0,0,0,-1]],[2.139,[0,0,41],[0,0,0,-1],0.013,0.0151,0.00739]];

TASK PERS tooldata Gripper:=[TRUE,[[0,0,97.0534],[0,0,0,-1]],[2.139,[0,0,41],[0,0,0,-1],0.013,0.0151,0.00739]];

I have 2 pick routines, 1 for the left and 1 for the right.

Have I reached the limit of the system given the large tool payload?

Thanks,

Dino