"***Recently, a background user asked the reason for the overflow problem of the 5.212 warehouse, and the blogger told you here that this is mainly caused by the non-standard writing of the program. ”
YAMAHA's industrial robot technology helps you find a way to deal with it.
01
Fault Routine Analysis 1
Let's start with a snippet of code:
*AA:
MOVE P,P101,Z=0.0
WAIT ARM
FOR I=1 TO 1000
MOVE P,P102,Z=0.0
WAIT ARM
DO2(0)=1
GOTO *TSA // place of fault
NEXT
MOVE P,P104,Z=0.0
MOVE L,P105
DO2(0)=0
*TSA:
MOVE P,P106,Z=0.0
DO2(0)=0
DELAY 200
GOTO *AA
Some problems can be seen in the code in the figure: in the loop FOR NEXT sentence, the jump instruction is presented,
And it did not return to the loop again, nor did it complete the cycle, and repeated operation will present the fault of the following figure in the future5.212 warehouse overflow fault, this time continues to operate, there is still this fault, and it can only be reset again, and the only way to deal with this problem thoroughly is to modify the program, and advocate modifying it into the following way.
*AA:
MOVE P,P101,Z=0.0
WAIT ARM
FOR I=1 TO 1000
MOVE P,P102,Z=0.0
WAIT ARM
DO2(0)=1
GOTO *TSA
NEXT
MOVE P,P104,Z=0.0
MOVE L,P105
DO2(0)=0
*TSA:
MOVE P,P106,Z=0.0
DO2(0)=0
DELAY 200
GOTO *AA
Some problems can be seen from the above code: in the loop FOR NEXT sentence, the jump instruction is presented, and it does not return to the loop again, and the loop is not completed, and the fault 5.212 warehouse overflow fault in the following figure will be presented in the future after repeated operation, and this time continues to run, there is still this fault, and it can only be reset and restarted, and the only way to deal with this problem thoroughly is to modify the program, and it is advocated to modify it to the following way.
*AA:
MOVE P,P101,Z=0.0
WAIT ARM
FOR I=1 TO 1000
MOVE P,P102,Z=0.0
WAIT ARM
DO2(0)=1
GOTO *TSA
NEXT
MOVE P,P104,Z=0.0
MOVE L,P105
DO2(0)=0
*TSA:
EXIT FOR
MOVE P,P106,Z=0.0
DO2(0)=0
DELAY 200
GOTO *AA
There's also an extra line of EXIT FOR loops so that the repository doesn't cause overflows, and that takes care of the problem.
Manually move each shaft, listen to whether there is noise in the mechanical part, if there is noise, check the bearing, reducer gear and other transmission devices; (5) In the state of shutdown in the preparation for operation, use the brake release switch to release the brake (note: when the brake is released, the robot arm may fall and cause damage, and the arm that may fall is supported before release), and use the method of listening to the sound to confirm whether the brake is released, and if it can be released, the servo drive unit is replaced.
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