I have been testing some ABB robots with conveyor tracking.
We did a lot of testing with Emergency Stops.
One day we discovered an unusual problem in following situation:
Production was running, emergency stop (ES) executed, ES was reset, ?oMotors on and PP-start?_ was set by the PLC, program execution started AND program execution stopped by an internal error. The system output ?oError?_ was not raised so no error information was sent to the PLC.
The internal error is logged at 11:56:14 with this text: ?_opath.c 9676 Break_segment on wrong segment?_.
Question 1: Do you have any explanation for the two faults (the internal error + no raised signal)?
After more testing we had some faults when pushing ES, just when the robots were about to leave coordinated movements with the conveyor, program line number: 358.
The Elog_all081104_1.txt is from such a situation. At 15:38:35 ?oJog or Speed error? occurs. ( the conveyor has only moved about maximum 30 mm since ES and is not outside reach). Several error numbers occurred
Question 2: Do you have any explanation for these errors?
Question 3: Which parameter settings can you recommend for eliminating these errors?
Question 4: Do you think the 3 following values can have any influence on the fault?
Are they set up correctly?
< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 9”>< name=“Originator” =“Microsoft Word 9”>
Value changed in Motion Planner
Name |
Old value |
# New value |
|---|---|---|
Path Resolution |
1 |
2 |
Process update time |
0.048384 |
0.09677 |
CPU Load equalization |
3 |
1 |
< =“-” =“text/; =utf-8”>< name=“ProgId” =“Word.”>< name=“Generator” =“Microsoft Word 9”>< name=“Originator” =“Microsoft Word 9”>
Robot ware 5.11.1033.01
4452997