Hallo zusammen,
ich kann leider einen Roboter nicht mehr bewegen. Das System gibt Fehler in der 2. und 3. Achse aus.
Wenn ich von Hand die Achsen löse, dann gibt es kein Problem.
Es handelt sich bei den IRB Roboter um ein 2400 Typ und ist etwa 15 Jahre alt.
Anbei das Fehler LOG File:
Common log messages
Date of saving:
10011 Motors on state 0831 14:18.12
2.
50021 Joint position error 0831 14:18.21
Actual position of joint irb_2
is too far away from the ordered
position
3.
20073 Not allowed command 0831 14:18.23
Not allowed while changing to
Motors Off state.
4.
60007 Jogging not permitted! 0831 14:18.23
Jogging cannot be done in this mode.
5.
20020 Run chain status timeout 0831 14:18.24
Two channel status timeout.
The acknowledgement for a two channel
run chain status change was not
received within the expected time.
6.
20009 Run chain status fault 0831 14:18.24
Two channel status conflict.
7.
10012 Guard stop state 0831 14:18.24
Runchain opened by any safety guard
except the emergency stop.
8.
10010 Motors off state 0831 14:18.39
9.
20062 Not allowed command 0831 14:18.39
Not allowed in Manual mode.
10.
10011 Motors on state 0831 14:18.40
11.
10052 Regain start 0831 14:18.40
A regain movement has started
12.
10021 Execution error reset 0831 14:19.2
The program execution has left
a spontaneous error state
13.
50056 Joint collision error 0831 14:19.3
Actual torque on joint irb_2 is
higher than ordered while at low
or zero speed.
14.
10053 Regain ready 0831 14:19.3
The regain movement is ready
15.
20020 Run chain status timeout 0831 14:19.5
Two channel status timeout.
The acknowledgement for a two channel
run chain status change was not
received within the expected time.
16.
20009 Run chain status fault 0831 14:19.5
Two channel status conflict.
17.
10012 Guard stop state 0831 14:19.5
Runchain opened by any safety guard
except the emergency stop.
18.
10010 Motors off state 0831 14:19.21
19.
20062 Not allowed command 0831 14:19.21
Not allowed in Manual mode.
20.
10011 Motors on state 0831 14:19.22
21.
50056 Joint collision error 0831 14:19.34
Actual torque on joint irb_3 is
higher than ordered while at low
or zero speed.
22.
20073 Not allowed command 0831 14:19.35
Not allowed while changing to
Motors Off state.
23.
60007 Jogging not permitted! 0831 14:19.35
Jogging cannot be done in this mode.
24.
20020 Run chain status timeout 0831 14:19.37
Two channel status timeout.
The acknowledgement for a two channel
run chain status change was not
received within the expected time.
25.
20009 Run chain status fault 0831 14:19.37
Two channel status conflict.
26.
10012 Guard stop state 0831 14:19.37
Runchain opened by any safety guard
except the emergency stop.
27.
10016 Automatic mode requested 0901 05:49.47
28. 20061 Not allowed command 0901 05:49.47
Not allowed when changing to Auto mode.
29.
10017 Automatic mode confirmed 0901 05:49.53
30. 20009 Run chain status fault 0901 07:20.28
Two channel status conflict.
31.
10015 Manual mode selected 0901 09:18.19
32. 10002 Program reset 0901 09:19.34
The task MAIN has
been rewound to its start point.
33.
10041 Program erased 0901 09:19.34
The task MAIN has
erased a program.
34. 10007 Program started 0901 09:19.34
The task MAIN has
start to execute.
The originator is unknown.
35. 10002 Program reset 0901 09:19.35
The task MAIN has
been rewound to its start point.
36. 10005 Program stopped 0901 09:19.35
The task MAIN has
stopped. The reason is that
the event routine for RESET or POWER_ON
is ready.
37. 10040 Program loaded 0901 09:20.32
The task MAIN has
loaded a program or program module.
The free user space was 4505760 bytes
before this operation and
3985104 bytes after.
38.
40165 Reference error 0901 09:20.32
Task MAIN: Reference to
unknown entire data string26
39.
10051 Event routine error 0901 09:20.32
The task MAIN could not start
the specified system event routine
SYS_RESET
The routine is either unknown to
the system or unlinkable.
40.
40165 Reference error 0901 09:20.32
Task MAIN: Reference to
unknown entire data string26
Alles was untereinander zu tauschen ist, wurde bereits durchgeführt. Jedoch ohne Erfolg.
Danke im voraus.
Baruck