Hi, I have a problem with a line running IRB360 Robots and conveyor tracking. The line is controlled using Pickmaster 3.30, with the controllers running RW 5.12.0138 and QTracker cards 377B running firmware v1.5.
Our problem is when the robot goes to pick from the moving conveyor (during constant speed of the conveyor) the robot hesitates/pauses several times during its pickup from the belt. This seems to happen as the robot reaches the belt and connects to it to start its tracking and move down from Pick Elevation. About 50% of the picks are good and the 50% are very hesitant/notchy picks. Any ideas how we can fix this please, are their any parameters to adjust or new software to install. We have built about 30 systems using IRB340 robots and never experienced this problem, only on the last two systems using IRB360’s.
Many Thanks
Hi,
I got this tip from a collegue that helped in another case:
You need to edit your moc.cfg and add a structure of SPLINE_PARAMETERS:
SPLINE_PARAMETERS:
-name “useminstep_4” -dyn_splines_with_dacc_start 2
-dyn_splines_with_ddec_end 2 -dec_buffer_min_time 0
-min_step_send_to_servo 4
-max_spline_divergence 0.001
And you have also to change in MOTION_PLANNER:
-use_spline_parameters “useminstep_4”
If you try it let, please let me know if it works.
BR
We are experiencing a similar issue with jerkiness when the 360 robot synchronizes to a conveyor running at steady speed. The motion is very harsh and it also occurs in about half of the cycles, but often clumped in groups - several good followed by several bad. I have never seen anything like this on a 340 when the conveyor was running at steady speed.
We have already implemented the spline parameter changes and they don’t eliminate the issue.
I will joint the club of jerky robot movement.
I our case the robots (IRB360) are going to the pick conveyor and you see really the robot doing a fine point at the pick elevation point. It is like that the robot hesitate to pick the product.
We had also during pick/place sequence a lot of system failure. I asked the local ABB office about it and they told me that there are some motion issues with the IRB360, motion problem normally solve in the last robotware 5.12.02. I have installed it but the jerky movement are still present. Untill now we had only one system failure in 3 weeks, a B-start was necessary to get out of it.
I did not try the spline parameter, what is this exactly doing?
BR,
Fabrice
Tried using the spline parameter change, this had no effect.
Hello,
Update Robotware to 5.12.02.
IRB360 and CNV Tracking: oscillations at start movement (DSE9097)
The oscillations and noise at start of movement after corner path warning in conveyor tracking has been solved.
I am running 5.12.02 and the oscillations are not gone. They are just less violent, although still strong enough to knock the arms off of the robot. I have also adjusted the conveyor start and stop ramps to higher values (from 5 to 10 or 15) to improve behavior, but I’m not sure I’m safe yet.
We have now updated to 5.12.02 and would agree that the oscillations during picking are still their but less violent. We are curently in the process of updating a system at a customers site were we have had arms poping off for no apparent reason.
What if you increase the pick elevation to a much larger number as a test? Does the motion still appear incorrect? Also, is the pick still accurate with the oscillations in the motion?
We have faced the similar problem and have tried some proposed actions
including suggestions posted in this forum, and still problem not solved.
This is Salami picking and the hesitation of elevation movement
(after robot moved to pick position, it hesitate about 0.1 sec to pick down and then miss it).
Funny thing is this happens only when salami come with an angle (i.e.90deg) with the conveyor flow.
When salami runs straight to the flow it does not occur.
What we tried were:
1.RobotWare upgrade from RW5.11.02 to RW5.12.03 for DSE9097
2.Adjust the parameter of Start/Stop ramp.
These did not solve the problem.
Please advise how we can fix this
I now see a hesitation before a pick movement. It is quite infrequent, but definately occurs. Using a high speed camera, you can see a ‘good’ pick. THe robot moves over the pick target and rounds nicely into the downward movement. The robot gets to the bottom of the movement and the gripper closes correctly. On a hesitation move, you can see the robot move over the pick target and then hesitate. It then starts its movement down without any zoned rounding. THe biggest problem is that the gripper now closes way to early - almost like the TRIGG timing occurs as if the robot is still on path, not taking into account the hesitation that the robot is actually doing at the top of the motion. THis causes a mispick everytime. We upgraded to RW5.12.03 with now results.
This is a known problem with the 360. We had to simply “live with it”. Very frustrating!
I am sorry but there is no known solution for it. In our system we found that the 360 would do a quick back motion before it accelerated forward. We believe this is from the True Move that was implemented in the new Robotware.
One thing that you might be able to do. We believe that you are able to make a 360 think that it is a 340, i.e. get rid of the True Move. This is not supported by ABB but you might contact your Technical rep to see if they will tell you how.
Another note on on the hestiation at the Pick Elevation point. We have a ‘pick buffer’ where we pick items from the pick conveyor, and if there is no location available on the place conveyor, we will place the item for temporary storage in this pick buffer. I will see the hesitation also on picking from the Static buffer, without any conveyor tracking.
One thing that you might be able to do. We believe that you are able to make a 360 think that it is a 340, i.e. get rid of the True Move.
I don’t know how to change from the 360 to the 340.
Could you please tell me the method in detail?
Down grade Robotware?
Adjust robot parameter?
BR
Tano