Deceleration limit fault

Robot Controller
1

Hi Guys.

have you ever faced that problem ?

i have 6600 irc5 with 5.8 software. while moving from home pos to first pos, we take that error: once or twice a day..

i tried accset command to reduce acceleration like 30,30. frequency of the error reduced but not dissappeared

i tried to use command pathresol increasing to 150 but nothing has changed. :grinning:

intresting thing that we have a second robot (completly the same type and same operation), never gives that kind of problem…

any suggest?

thanks…

2

Hi

And the error is ?

Is there an error number.

3

50082 deceleration limit

4

I would suggest that you checked that the Calibration Offset values are the same in the controller as stated on the Manipulator.

5

what is the effect of calibration offset values to that problem?

6

Have seen many strange things happen (usally strange behaviour in Linear jogging) when they didn’t match, that’s why I suggest that you should at least check it up.

7

checked it. little bit different from the label… i think it is neglible…

command is movel… we changed both points to be sure not to be a problem of singularity…

8

How close are the points? The timing of the errors are random, Yes? You may need to slow down the movement to the 1st pos and also maybe the 2nd pos. Trying to move too fast over a short distance can cause this error.

9

Had a IRB260 once that only had a small diff (last digit) but still didn’t behave well so I changed it to what the label said (and I always check this the first I do since a couple of years back) and after that it worked just fine!!!

10

Also you can try changing the Parameter Motion>Motion planner>motion_planner_1>high interpolation priority to On from off.

This is one of those errors that can come from many sources, including high CPU load.

Is the problem occurring when the robot has been sitting still long enough for the brakes to be applied, and then it attempts to move?

11

“How close are the points?”

approx. 400 mm.

“The timing of the errors are random, Yes?”

Yes… approx 1200 cycle per day. error freq: (randomly) 3-4 times per day..

“You may need to slow down the movement to the 1st pos and also maybe the 2nd pos.”

i tried with accset (30,30) command. helped but not 100%

“Is the problem occurring when the robot has been sitting still long enough for the brakes to be applied, and then it attempts to move?”

yes.. exactly..

robot turns to the home pos, then wait start command. error occurs less than 1 sec after receiving of the start command.

moves max 1-2 mm, then gives error message…

prog side…

AccSet 30, 30; //added later for the error…

MoveAbsJ home_posNoEOffs, v1000, fine, gunWObj:=wobj0;

TPWrite “bla bla bla…”;
PathResol 150;// added later for the error…
MoveLDO st1_00,v600,z50,gunWObj:=nwobj1,q_CycOnSt1,1;

PathResol 100;// added later for the error..

CONST jointtarget home_pos := [[-27.7372,-53.6481,54.6553,0.000106617,89.0387,88.0773],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget st1_00:=[[933.010630617241,-275.745058275906,-516.197708981107],[0.857408657816958,0.00276499304853343,-0.0024521215981209,-0.514622906032789],[-1,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

12

You may want to look at upgrading to the latest RobotWare version, e.g. 5.10.02. The particular behavior I described was fixed in version 5.09.04 and higher.

13

“Is the problem occurring when the robot has been sitting still long enough for the brakes to be applied, and then it attempts to move?”

if my answer is yes for the question above, what would you suggest?

14

As I mentioned above, it is my understanding that condition is fixed in versions 5.09.04 and higher, so I would perform a software upgrade to the latest RobotWare version.

I cannot find an entry in the Release Notes where this issue was described, but it was one that we experienced. My advice would be to contact your local ABB support organization to acquire the latest RW version.

You might want to create a test system on one of your robots with the new version to verify that there are no application compatability issues before you just wipe out your existing systems.You should be able to store two complete, separate systems on your flash disk, unless it is smaller than 256 MB or it has a lot of other files stored on it for some reason.

15

Mr Drown,

thank you for your interest

16